WO2020143291A1 - 拖地机器人的控制方法、装置、设备及存储介质 - Google Patents

拖地机器人的控制方法、装置、设备及存储介质 Download PDF

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Publication number
WO2020143291A1
WO2020143291A1 PCT/CN2019/116026 CN2019116026W WO2020143291A1 WO 2020143291 A1 WO2020143291 A1 WO 2020143291A1 CN 2019116026 W CN2019116026 W CN 2019116026W WO 2020143291 A1 WO2020143291 A1 WO 2020143291A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
value
target area
wiper
mopping robot
Prior art date
Application number
PCT/CN2019/116026
Other languages
English (en)
French (fr)
Inventor
吴一昊
吴卓锐
张宇鹏
Original Assignee
云鲸智能科技（东莞）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 云鲸智能科技（东莞）有限公司 filed Critical 云鲸智能科技（东莞）有限公司
Priority to EP19908914.5A priority Critical patent/EP3909494A4/en
Priority to AU2019421670A priority patent/AU2019421670B2/en
Priority to CA3126170A priority patent/CA3126170C/en
Priority to GB2111216.4A priority patent/GB2595115B/en
Priority to JP2021540041A priority patent/JP7208675B2/ja
Priority to KR1020217021703A priority patent/KR102636745B1/ko
Publication of WO2020143291A1 publication Critical patent/WO2020143291A1/zh
Priority to US17/369,939 priority patent/US20210330166A1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • A47L11/293—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools the tools being disc brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • This application relates to the field of smart home technology, in particular to a control method, device, equipment and storage medium of a floor mopping robot.
  • Mopping robots are one of them. In scenarios such as home indoor cleaning and cleaning of large places, the floor mopping robot can be set to automatically clean the ground. Therefore, how to control the mopping robot is the key to ensure the cleaning effect.
  • the moving trajectory of the mopping robot is set in advance, and the mopping robot is controlled to move according to the preset moving trajectory, so as to clean the ground by the rubbing member provided on the mopping robot. Then, the user himself decides when to clean the wiper. When the user needs to clean the wiper, the user removes the wiper from the mopping robot, and then manually cleans the wiper.
  • the embodiments of the present application provide a control method, device, equipment and storage medium of a mopping robot to solve the problems of insufficient intelligence and low flexibility in controlling the mopping robot in the related art.
  • the present application provides a control method for a mopping robot, which is set as a mopping robot, the mopping robot is provided with a mop, and the mop is configured to clean the ground by mopping;
  • the control method of the mopping robot includes:
  • the mopping robot drags the ground through the dragging member, adjust the dragging value of the dragging member, wherein the dragging value is set to indicate the degree of dirtiness of the dragging member;
  • the cleaning operation of the dragging member is performed.
  • the present application also proposes a control device for a mopping robot, which is provided as a mopping robot, the mopping robot is provided with a mop, and the mop is configured to clean the ground by mopping;
  • the control device of the mopping robot includes:
  • An adjustment module configured to adjust the drag value of the mopping member if the mopping robot drags the ground through the mopping member, and the drag value is set to indicate the degree of dirtiness of the mopping member;
  • the control module is configured to perform a cleaning operation of the wiper if the drag value meets the cleaning conditions.
  • the present application also provides a control device for a mopping robot.
  • the control device for a mopping robot includes: a memory, a processor, and a dragger stored on the memory and capable of running on the processor.
  • the control program of the ground robot when the control program of the ground robot is executed by the processor, the following steps are realized:
  • the mopping robot wipes the ground through the dragging member, adjust the dragging value of the dragging member, wherein the dragging value is set to indicate the degree of dirtiness of the dragging member;
  • the cleaning operation of the dragging member is performed.
  • the present application also proposes a computer-readable storage medium on which a control program for a mopping robot is stored.
  • a control program for a mopping robot is stored on a computer-readable storage medium on which a control program for a mopping robot is stored.
  • the mopping robot drags the ground through the dragging member, adjust the dragging value of the dragging member, wherein the dragging value is set to indicate the degree of dirtiness of the dragging member; if the The wipe value meets the cleaning conditions, and the wiper cleaning operation is performed.
  • the drag value of the wiper is adjusted, and the drag value indicates the degree of dirtiness of the wiper, and the mopping robot is controlled to perform cleaning of the wiper when the drag value meets the cleaning conditions
  • the operation realizes the cleaning of the wiper based on the dirtiness of the wiper. Therefore, this control method is more intelligent and flexible, so that the wiper can be cleaned in time, thereby ensuring the cleaning effect of the ground.
  • FIG. 1 is a perspective schematic view of a floor mopping robot provided by an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a mopping robot provided by an embodiment of the present application after removing a part of a casing;
  • FIG. 3 is a bottom view of the mopping robot provided by the embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a floor mopping robot provided by an embodiment of the present application.
  • FIG. 5 is a front view of a base station provided by an embodiment of the present application.
  • FIG. 6 is a perspective schematic view of a base station provided by an embodiment of the present application after opening a top cover;
  • FIG. 7 is a schematic structural diagram of a base station provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a mopping robot driving to a base station provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a state in which the mopping robot is docked on a base station according to an embodiment of the present application.
  • FIG. 10 is a flowchart of a method for controlling a mopping robot provided by an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of a grid map provided by an embodiment of the present application.
  • FIG. 12 is a schematic diagram of determining a target map area provided by an embodiment of the present application.
  • FIG. 13 is a schematic diagram of cleaning values and cumulative cleaning time provided by embodiments of the present application.
  • FIG. 14 is a schematic diagram of the scrubbing value and accumulated cleaning time provided by an embodiment of the present application.
  • 15 is a schematic structural diagram of a control device for a mopping robot provided by an embodiment of the present application.
  • 16 is a schematic structural diagram of an adjustment module provided by an embodiment of the present application.
  • 17 is a schematic structural diagram of a control device for a floor mopping robot provided by an embodiment of the present application.
  • the embodiments of the present application provide a method for controlling a mopping robot.
  • the method may be configured as a mopping robot.
  • the mopping robot may be configured to automatically clean the ground by mopping the floor.
  • the application scenario of the mopping robot may be For household indoor cleaning, cleaning of large places, etc.
  • the mopping robot 100 includes a robot body 101, a driving motor 102, a sensor unit 103, a controller 104, a battery 105, a walking unit 106, a memory 107, a communication unit 108, a robot interaction unit 109, a mop Wiping member 110, charging member 111, etc.
  • the robot body 101 may have a circular structure, a square structure, or the like.
  • the robot body 101 is D-shaped as an example for description.
  • the front part of the robot body 101 has a rounded rectangular structure, and the rear part has a semi-circular structure.
  • the robot body 101 has a bilaterally symmetric structure.
  • the wiper 110 is configured to clean the ground, and the number of the wiper 110 may be one or more.
  • the wiper 110 is, for example, a mop.
  • the wiper 110 is disposed at the bottom of the robot body 101, specifically, the position of the bottom of the robot body 101 forward.
  • a driving motor 102 is provided inside the robot main body 101, and two rotating shafts extend from the bottom of the robot main body 101, and the dragging member 110 is sleeved on the rotating shaft.
  • the driving motor 102 can drive the rotating shaft to rotate, so that the rotating shaft drives the drag member 110 to rotate.
  • the walking unit 106 is a component related to the movement of the mopping robot 100.
  • the walking unit 106 includes a driving wheel 1061 and a universal wheel 1062.
  • the universal wheel 1062 and the driving wheel 1061 cooperate to realize the turning and moving of the mopping robot 100.
  • a drive wheel 1061 is provided on each of the left and right sides of the bottom surface of the robot body 101 near the rear.
  • the universal wheel 1062 is disposed on the center line of the bottom surface of the robot main body 101, and is located between the two wipers 110.
  • each driving wheel 1061 is provided with a driving wheel motor, and driven by the driving wheel motor, the driving wheel 1061 rotates. After the driving wheel 1061 rotates, the mopping robot 100 is driven to move. By controlling the rotational speed difference between the left and right drive wheels 1061, the steering angle of the mopping robot 100 can be controlled.
  • the controller 104 is provided inside the robot body 101, and the controller 104 is configured to control the mopping robot 100 to perform specific operations.
  • the controller 104 may be, for example, a central processing unit (CPU), a microprocessor (Microprocessor), or the like. As shown in FIG. 4, the controller 104 is electrically connected to the battery 105, the memory 107, the drive motor 102, the walking unit 106, the sensor unit 103, and the robot interaction unit 109 to control these components.
  • the robot main body 101 is also provided with a charging member 111 configured to obtain power from an external device to charge the battery 105 of the mopping robot 100.
  • the memory 107 is provided on the robot body 101, and a program is stored on the memory 107, and when the program is executed by the controller 104, a corresponding operation is realized.
  • the memory 107 is also set to store parameters for the mopping robot 100.
  • the memory 107 includes but is not limited to a magnetic disk memory, a read-only compact disk (Compact Disc Read-Only Memory, CD-ROM), an optical memory, and the like.
  • the communication unit 108 is provided on the robot body 101, and the communication unit 108 is configured to allow the mopping robot 100 to communicate with external devices.
  • the communication unit 108 includes but is not limited to a wireless fidelity (WIreless-Fidelity, WI-FI) communication module 1081 and a short Distance communication module 1082 and so on.
  • the mopping robot 100 can connect to the WI-FI router through the WI-FI communication module 1081 to communicate with the terminal.
  • the mopping robot 100 communicates with the base station through the short-range communication module 1082.
  • the base station is a cleaning device used with the mopping robot 100.
  • the sensor unit 103 provided on the robot body 101 includes various types of sensors, such as a lidar 1031, a collision sensor 1032, a distance sensor 1033, a drop sensor 1034, a counter 1035, a gyroscope 1036, and the like.
  • a counter 1035 and a gyroscope 1036 are also provided inside the robot body 101.
  • the counter 1035 is set to accumulate the total number of rotation angles of the driving wheel 1061 to calculate the distance and length that the driving wheel 1061 drives the mopping robot 100 to move.
  • the gyroscope 1036 is set to detect the rotation angle of the mopping robot 100, so that the orientation of the mopping robot 100 can be determined.
  • the robot interaction unit 109 is provided on the robot body 101, and the user can interact with the mopping robot 100 through the robot interaction unit 109.
  • the robot interaction unit 109 includes components such as a switch button 1091 and a speaker 1092. The user can control the mopping robot 100 to start work or stop work by pressing the switch button 1091. The mopping robot 100 can play a prompt sound to the user through the speaker 1092.
  • the mopping robot 100 described in the embodiments of the present application is only a specific example, and does not constitute a specific limitation on the mopping robot 100 of the embodiments of the present application.
  • the mopping robot 100 of the embodiments of the present application may also be other specific implementations .
  • the mopping robot may have more or fewer components than the mopping robot 100 shown in FIG. 1.
  • the base station 200 is configured to be used in conjunction with the mopping robot 100, for example, the base station 200 can charge the mopping robot 100, the base station 200 can provide the mopping robot 100 with a docking position, and the like.
  • the base station 200 can also clean the wiper 110 of the mopping robot 100. Wherein, the wiper 110 is configured to clean the ground by mopping.
  • the base station 200 includes a base station body 202, a cleaning tank 203, and a water tank 204.
  • the cleaning tank 203 is provided on the main body 202 of the base station, and the cleaning tank 203 is provided for cleaning the mop 110 of the mopping robot.
  • the cleaning rib 2031 provided on the cleaning tank 203 can scrape and clean the wiper 110.
  • the base station main body 202 is provided with a notch 205 which leads to the washing tank 203.
  • the mopping robot 100 may drive into the base station 200 through the entry slot 205, so that the mopping robot 100 docks at a preset docking position on the base station 200.
  • the water tank 204 is disposed in the base station main body 202.
  • the water tank 204 specifically includes a clean water tank and a sewage tank.
  • the solution tank is set to store clean water.
  • the mopping robot 100 is docked on the base station 200
  • the mopping member 110 of the mopping robot 100 is accommodated on the cleaning tank 203.
  • the clean water tank supplies clean water to the cleaning tank 203, and the clean water is set to clean the wiper 110.
  • the dirty sewage after cleaning the wiper 110 is collected in the sewage tank.
  • a top cover 201 is provided on the base station main body 202. The user can remove the water tank 204 from the base station main body 202 by opening the top cover 201.
  • the base station 200 further includes a controller 206, a communication unit 207, a memory 208, a water pump 209, a base station interaction unit 210, and so on.
  • the controller 206 is disposed inside the base station main body 202, and the controller 206 is configured to control the base station 200 to perform specific operations.
  • the controller 206 may be, for example, a central processing unit (CPU), a microprocessor (Microprocessor), or the like.
  • the controller 206 is electrically connected to the communication unit 207, the memory 208, the water pump 209, and the base station interaction unit 210.
  • the memory 208 is provided on the base station main body 202, and a program is stored on the memory 208, and when the program is executed by the controller 206, a corresponding operation is realized.
  • the memory 208 is also set to store parameters for use by the base station 200.
  • the storage 208 includes, but is not limited to, disk storage, CD-ROM, optical storage, and the like.
  • the water pump 209 is provided inside the base station main body 202. Specifically, there are two water pumps 209. One water pump 209 is configured to control the clean water tank to provide cleaning water to the cleaning tank 203, and the other water pump 209 is configured to clean the wiper 110 after being dirty. Sewage is collected in the waste tank.
  • the communication unit 207 is provided on the base station main body 202.
  • the communication unit 207 is configured to communicate with external devices.
  • the communication unit 207 includes but is not limited to a wireless fidelity (WIreless-Fidelity, WI-FI) communication module 2071 and a short-range communication module 2072, etc. .
  • the base station 200 can connect to the WI-FI router through the WI-FI communication module 2071 to communicate with the terminal.
  • the base station 200 can communicate with the mopping robot 100 through the short-range communication module 2072.
  • the base station interaction unit 210 is configured to interact with the user.
  • the base station interaction unit 210 includes, for example, a display screen 2101 and a control button 2102.
  • the display screen 2101 and the control button 2102 are provided on the base station main body 202.
  • the display screen 2101 is provided to display information to the user.
  • the control button 2102 is provided for the user to perform a pressing operation.
  • the base station 200 is controlled to be turned on or stopped.
  • the base station main body 202 is also provided with a power supply component, and the mopping robot is provided with a charging component 111.
  • the charging component 111 of the mopping robot 100 and the base station 200 The power supply component contacts, so that the base station 200 charges the mopping robot 100.
  • the electric energy of the base station 200 may come from the commercial power.
  • the mopping robot 100 cleans the floor of the room.
  • the power of the battery 105 on the mopping robot 100 is less than the preset power threshold, as shown in FIG. 8, the mopping robot 100 automatically drives toward the base station 200.
  • the mopping robot 100 enters the base station 200 through the slot 205 on the base station 200 and docks at a preset docking position on the base station 200.
  • the state of the mopping robot 100 docked on the base station 200 can be seen in FIG. 9.
  • the charging component 111 on the mopping robot 100 contacts the power supply component on the base station 200, the base station 200 obtains power from the commercial power, and charges the battery 105 of the mopping robot 100 through the power supply component and the charging component 111. After the mopping robot 100 is fully charged, it drives away from the base station 200 and continues to clean the floor of the room.
  • the mopping robot 100 may be configured to clean the ground by mopping.
  • the mopping robot 100 drags the floor of the room for a period of time. After the wiper 110 becomes dirty, the mopping robot 100 drives toward the base station 200.
  • the mopping robot 100 enters the base station 200 through the slot 205 on the base station 200 and docks at a preset docking position on the base station 200.
  • the state of the mopping robot 100 docked on the base station 200 can be seen in FIG. 9.
  • the wiper 110 of the mopping robot 100 is accommodated on the cleaning tank 203, and under the action of the water pump 209, the clean water in the clean water tank in the base station 200 flows to the cleaning tank 203, passing through the liquid inlet structure on the cleaning tank 203 Spraying onto the wiping member 110, at the same time, the wiping member 110 scrapes with the protruding cleaning rib 2031 in the cleaning tank, thereby achieving cleaning of the wiping member 110.
  • the dirty sewage after cleaning the wiper 110 flows out of the cleaning tank 203 from the drainage structure on the cleaning tank, and under the action of the water pump 209, the dirty sewage is collected into the sewage tank.
  • the base station 200 described in the embodiment of the present application is only a specific example, and does not constitute a specific limitation on the base station 200 in the embodiment of the present application.
  • the base station 200 in the embodiment of the present application may also be implemented in other specific ways, for example, implemented in the present application
  • the base station 200 of the example may not include a water tank 204, and the base station body 202 may be connected to a water pipe and a drain pipe, so that the tap water of the water pipe is used to clean the wiper 110 of the mopping robot 100, and the dirty sewage after cleaning the wiper 110 is cleaned by the cleaning tank. 203 flows out of the base station 200 through the drain pipe.
  • the base station may have more or fewer components than the base station 200 shown in FIG. 5.
  • an embodiment of the present application provides a method for controlling a mopping robot.
  • the method should be set as a mopping robot, the mopping robot is provided with a mop, and the mop is set to the ground Perform mopping cleaning.
  • the method includes:
  • Step 1001 if the mopping robot wipes the ground through the dragging member, the dragging value of the dragging member is adjusted, and the dragging value is set to indicate the degree of dirtiness of the dragging member.
  • the bottom of the mopping robot is provided with a wiper and a driving wheel.
  • the wiper When the mopping robot moves under the drive of the drive wheel, the wiper also slides relative to the ground, thereby achieving the cleaning of the ground.
  • the dragging methods of the dragging pieces include but are not limited to the following methods:
  • Scrubbing method 1 The scrubbing piece is directly fixed to the bottom of the mopping robot, and moves with the movement of the mopping robot, thereby realizing the dragging of the ground. It can be seen that in the first wiping method, the dragging trajectory of the dragging member is the same as the moving trajectory of the mopping robot.
  • the mopping robot is provided with a rotation axis, which can penetrate the entire mopping robot, or is located at the bottom of the mopping robot, and the dragging member is indirectly fixed to the bottom of the mopping robot through the rotation axis.
  • the rotating shaft can drive the mopping element to rotate, and the rotating mopping element and the ground produce sliding friction, thereby realizing the mopping of the ground.
  • the trajectory of ground robots is different.
  • Scrubbing method 3 The mopping robot executes the above-mentioned dragging method 1 and dragging method 2 at the same time.
  • the mopping element is mounted on the rotation axis of the mopping robot.
  • the mopping robot rotates on the ground while moving on the ground, so that the mopping element moves on the ground with the movement of the mopping robot Driven by the rotating shaft to rotate.
  • the drag value can be used to indicate the degree of dirt of the wiper.
  • the drag value can be adjusted to reflect the wiper The degree of dirt changes, and then the wiper is cleaned based on the drag value control.
  • the dragging process of the wiper can be regarded as the process of transferring the stain from the ground cleaned by the wiper to the wiper. In this process, the degree of dirt on the ground cleaned by the wiper is reduced. The degree of dirt increases accordingly. That is to say, the dirt of the wiper is caused by the ground cleaned by the wiper. Therefore, in an alternative embodiment, the degree of dirt of the ground cleaned by the wiper can be adjusted The degree of dirt.
  • the step of adjusting the drag value of the wiper specifically includes: determining the target area Clean value, adjust the drag value of the wiper according to the clean value of the target area.
  • the manner of determining the cleaning value of the target area includes but is not limited to the following:
  • the user sets the cleaning value of the target area through other devices.
  • the mopping robot can directly obtain the cleaning value of the target area from these devices.
  • the user inputs the cleaning value of the ground (including the target area) of the area to be cleaned by the smartphone as 100.
  • the mopping robot determines that the cleaning values of the ground (including the target area) of the area to be cleaned are all preset values according to the current number of times of the area to be cleaned.
  • the cleaning value and the area map may be combined to determine the specific area cleaning value according to the area map.
  • the steps of determining the cleaning value of the target area include: obtaining an area map of the area to be cleaned; locating the target map area representing the target area on the area map; determining the cleaning value assigned to the target map area, and using the target map area The cleaning value of is used as the cleaning value of the target area.
  • the area map is set as information describing the area to be cleaned.
  • the area map may be a grid map.
  • the grid map includes multiple grids, and each grid corresponds to a part of the area to be cleaned.
  • the white grid represents the area where the wiper can be wiped in the area to be cleaned, that is, the area where the mopping robot can pass.
  • the black grid indicates the area of the area to be cleaned that cannot be dragged by the wiper, that is, the obstacle area.
  • the embodiment of the present application does not limit the type of the area map to be cleaned, and other types of area maps (such as feature maps, topology maps, and other area maps) may also be used to describe the information of the area to be cleaned.
  • the way to obtain the area map includes but is not limited to: the mopping robot detects the area to be cleaned through the installed laser radar to obtain the area map; the mopping robot moves along the edge of the area to be cleaned, and obtains the area map according to the movement trajectory; the user passes The terminal inputs the area map to the mopping robot; the mopping robot initiates the area map acquisition instruction to the server to obtain the area map returned by the server; the mopping robot detects through the installed Inertial Measurement Unit (IMU) and collision sensor An area map is obtained for the area to be cleaned; the mopping robot senses the area to be cleaned through the installed visual sensor to obtain the area map and so on.
  • IMU Inertial Measurement Unit
  • the cleaning value can be pre-configured for the area map in the following ways:
  • Configuration method 1 Configure the default cleaning value for the area map. For example, before the mopping robot starts to drag, configure a reference cleaning value for the area map, such as 100. When the area map is a grid map, the reference cleaning value can be configured for each grid, that is, each grid is dirty by the same degree by default.
  • Configuration method 2 The user directly configures clean values for the area map.
  • the mopping robot pushes the acquired area map to the terminal, and the user configures the cleaning value through the terminal.
  • the area map is a grid map
  • the user can configure different cleaning values for each grid separately, and can also configure the grid cleaning values in batches.
  • the mopping robot configures the cleaning value for the area map according to the reference method. For example, the mopping robot photographs the area to be cleaned through an image sensor to obtain an image of the area to be cleaned, analyzes the image of the area to be cleaned to obtain the degree of dirtiness of the area to be cleaned, and configures the area map with a cleaning value corresponding to the degree of dirtiness of the area to be cleaned.
  • the area map is a grid map
  • the mopping robot can configure different cleaning values for each grid separately, and can also configure the grid cleaning values in batches.
  • the target area refers to the area on the ground that is cleaned by the wiper
  • the target map area is the corresponding area of the target area in the area map, that is, the target area is the actual area on the ground
  • the target map area is the area map In the virtual area.
  • Step 21 Obtain the position of the mopping robot on the area map.
  • the area map of the area to be cleaned includes a map reference point, and the map reference point corresponds to an actual reference point in the area to be cleaned, that is, the actual reference point is represented by the map reference point in the area map.
  • the actual reference point may be any position in the area to be cleaned.
  • positional relationship includes but is not limited to distance information and Direction information
  • map the positional relationship information to the area map to obtain the positional relationship information in the area map.
  • the mapping method may be to reduce or enlarge the distance information according to a reference ratio between the area map and the area to be cleaned to obtain the distance information in the area map, and the direction information Directly as the direction information in the area map;
  • the position point of the mopping robot in the area map is obtained according to the positional relationship information in the area map, and the position point is the current position point of the mopping robot in the area map.
  • the (0,0) map reference point corresponds to the actual reference point (x0, y0) in the area to be cleaned.
  • the positional relationship information in the raster map obtained by the mapping is [(x1-x0)/A, (y1 -y0)/A];
  • the position of the mopping robot in the grid map is [0+(x1-x0)/A, 0+(y1-y0) /A]]
  • the location point is the current location point of the mopping robot in the grid map.
  • the mopping robot detects the characteristics of the environment through a detection sensor (such as a laser radar or a camera), and then based on the characteristics of the environment and the room features represented by the area map Match to achieve the positioning of the mopping robot in the area map.
  • a detection sensor such as a laser radar or a camera
  • the mopping robot uses a inertial sensor or a satellite positioning system for positioning and so on.
  • Step 22 Determine the target map area of the target area based on the location point of the mopping robot in the area map.
  • the target map area of the target area may be determined based on the position point. Specifically, since the mopping robot is set to the fixed position as the fixed position, the positional relationship between the set position and the wiper is fixed, so that the positional relationship between the set position and the wiper can be used, based on the The location point determines the target map area of the target area.
  • the area map is a grid map, as shown in FIG. 12, using the grid where the position point is as the reference grid, take three rows of grids along the direction of the mopping robot’s advance, and align it perpendicular to the direction of the mopping robot’s advance. Take 3 grids on the left and right of the reference grid, that is, 21 grids in 3 rows and 7 columns as the target map area of the target area. It should be noted that the target map area may be one or more grids.
  • the cleaning value of the target map area in the area map can be directly determined at this time, and the target map area’s
  • the cleaning value is taken as the cleaning value of the target area.
  • the mopping robot can determine the cleaning value of the target area, and then adjust the drag value of the wiper according to the cleaning value of the target area.
  • the mopping robot may adjust only the drag value of the drag member; it may also adjust both the cleaning value of the target area and the drag value of the drag member.
  • the mopping robot not only adjusts the cleaning value of the target area, but also adjusts the drag value of the wiper according to the cleaning value of the target area.
  • the cleaning value can accurately reflect the current dirtiness of the target area, so that the drag value of the wiper adjusted according to the cleaning value of the target area is more accurate.
  • the first implementation method the cleaning value indicates whether the target area is cleaned, and the degree of dirt after the target area is cleaned is less than the degree of dirt that has not been cleaned; accordingly, the drag value indicates the area of the area cleaned by the wiper. The larger the area of the part to be cleaned, the higher the dirtiness of the wiper.
  • the method of the present implementation method further includes: if the target area is cleaned by the wiper, adjusting the cleaning value of the target area from the uncleaned mark to the cleaned mark, thereby adjusting the cleaning value of the target area.
  • the uncleaned mark indicates that the target area has not been cleaned by the wiper, and the cleaned mark indicates that the target area has been cleaned by the wiper.
  • the embodiments of the present application do not limit the expression manner of the uncleaned mark and the cleaned mark.
  • two different numbers can be used as the uncleaned mark and the cleaned mark, respectively.
  • 1 is an uncleaned mark
  • 0 is a cleaned mark.
  • adjusting the drag value of the wiper according to the cleaning value of the target area includes: updating the area range of the wiper cleaning area according to the adjusted cleaning value of the target area to obtain the adjusted value of the wiper Drag the value.
  • the wiper after the wiper has finished cleaning the target area, the stains in the target area are transferred to the wiper, the area of the target area is increased in the area of the wiper cleaning area, and the dirt of the wiper is dirty Increased degree. If the target area is cleaned by the wiper, the cleaning value of the target area is adjusted from the uncleaned mark to the cleaned mark; accordingly, the area of the area cleaned by the wiper is updated according to the cleaning value of the target area to obtain the wiper's Adjusted drag value.
  • the cleaning value of the target area is 1, that is, the uncleaned mark is 1, and after the target area is cleaned by the wiper, the cleaning value of the target area is 0, that is, the cleaned mark is 0.
  • the cleaning value of the target area is adjusted from 1 to 0; accordingly, the drag value is increased by 1 to indicate that the area range of the target area is increased in the area of the area cleaned by the wiper. It can be seen that the larger the drag value, the larger the area of the area to be cleaned by the wiper, and the higher the dirtiness of the wiper.
  • the cleaning value of the target area is 0, that is, the uncleaned mark is 0, and after the target area is cleaned by the wiper, the cleaning value of the target area is 1, that is, the cleaned mark is 1.
  • the cleaning value of the target area is adjusted from 0 to 1; accordingly, the drag value is decreased by 1, indicating that the area range of the target area is increased in the area of the area cleaned by the wiper It can be seen that the smaller the drag value, the larger the area of the area to be cleaned by the wiper, and the higher the dirtiness of the wiper.
  • the second implementation method the cleaning value indicates the cleaning time required for the target area. The longer the cleaning time required, the higher the dirtiness of the target area; accordingly, the drag value indicates the cumulative cleaning time of the wiper and the cumulative cleaning time The longer it is, the higher the dirtiness of the wiper.
  • the method of this implementation includes: calculating the cleaning duration of the cleaning of the target area by the wiper. Adjust the current cleaning time required by the target area according to the cleaning duration, and obtain the adjusted cleaning time, and use the adjusted cleaning time as the adjusted cleaning value of the target area, thereby achieving the adjustment of the cleaning value of the target area.
  • the drag value of the wiper is adjusted according to the cleaning value of the target area, including: if the cleaning time adjustment amount of the target area is not zero, the drag value of the wiper is adjusted according to the cleaning time adjustment amount, and the cleaning time The adjustment amount is obtained according to the currently required cleaning time and the adjusted cleaning time.
  • the cleaning value of the target area is the cleaning time currently required by the target area; starting from the time point when the wiper starts cleaning the target area, the The cleaning time of the area is adjusted according to the cleaning time to the current cleaning time required by the target area to obtain the cleaning time required by the adjusted target area, and the cleaning time required by the adjusted target area is used as the adjusted cleaning value of the target area.
  • the current cleaning time required for the target area (that is, the cleaning value of the target area) is 10 seconds
  • the wiper cleans the target area with a cleaning time of 6 seconds
  • the cleaning time 6 seconds
  • Adjust the currently required cleaning time (10 seconds) to obtain the adjusted cleaning time of the target area as 10 seconds-6 seconds 4 seconds
  • the adjusted cleaning time (4 seconds) as the adjusted cleaning value of the target area Therefore, the cleaning value of the target area is adjusted from 10 seconds to 4 seconds.
  • the cleaning time adjustment amount of the target area is not zero, the drag value of the wiper is adjusted according to the cleaning time adjustment amount, and the cleaning time adjustment amount is obtained according to the currently required cleaning time and the adjusted cleaning time.
  • the cleaning amount of the target area is not zero, it means that the stain on the target area has been transferred to the wiper, which makes the degree of dirt of the wiper increase. If the cleaning amount of the target area is zero, Then, the stains on the target area are not transferred to the wiper, so the degree of dirt of the wiper cannot be increased. Therefore, in the case where the adjustment amount for the cleaning time of the target area is not zero, the drag value of the wiper is adjusted according to the adjustment amount for the cleaning time.
  • the third implementation method the cleaning value represents the total number of cleanings required in the target area. The more total cleaning times required, the higher the dirtiness of the target area; accordingly, the drag value indicates the cumulative number of cleanings of the wiper, cleaning The more accumulated times, the higher the dirtiness of the wiper.
  • the method of this implementation further includes: counting the number of times the wiper has cleaned the target area. Then, the total number of cleanings currently required in the target area is adjusted according to the number of times cleaned to obtain the adjusted number of cleanings, and the adjusted number of cleanings is used as the adjusted cleaning value of the target area, thereby achieving adjustment of the cleaning value of the target area.
  • adjusting the drag value of the wiper according to the cleaning value of the target area includes: if the adjustment amount of the cleaning frequency of the target area is not zero, the drag value of the wiper is adjusted based on the adjustment amount of the cleaning frequency. The number of times of adjustment is obtained based on the total number of cleanings currently required and the number of cleanings after adjustment.
  • the cleaning value of the target area is the total number of times the target area currently needs to be cleaned; the first time the wiper cleans the target area starts to count, and the The number of times the target area is cleaned is adjusted according to the number of times of cleaning, and the total number of times the target area currently needs cleaning is adjusted to obtain the adjusted number of times of cleaning, and the adjusted number of times of cleaning is used as the adjusted cleaning value of the target area.
  • the total number of times the target area currently needs to be cleaned (that is, the cleaning value of the target area) is 10, then when the wiper cleans the target area with 6 times as the number of times cleaned, according to the The number of cleanings (6 times) adjusts the total number of cleanings currently required (10 times).
  • the adjusted cleaning time (4 times) is used as the target area after adjustment. Cleaning value, therefore, the cleaning value of the target area is adjusted from 10 times to 4 times.
  • the drag value of the wiper is adjusted based on the adjustment amount of the cleaning times, and the adjustment amount of the cleaning times is obtained according to the total cleaning times currently required and the adjusted cleaning times.
  • the adjustment amount of the cleaning frequency of the target area is not zero, it means that the stain on the target area has been transferred to the wiper, so that the dirtiness of the wiper is increased, if the adjustment amount of the cleaning frequency of the target area is zero, Then, the stains on the target area are not transferred to the wiper, so the degree of dirt of the wiper cannot be increased.
  • the method provided by the embodiment of the present application further includes: determining an adjustment amount of the cleaning value of the target area.
  • adjusting the drag value of the wiper according to the cleaning value of the target area includes adjusting the drag value of the wiper according to the adjustment amount of the cleaning value of the target area.
  • the cleaning value of the target area may be adjusted from the first cleaning value to the second cleaning value according to the accumulated cleaning information, and the first The difference between the cleaning value and the second cleaning value is determined as the adjustment amount of the target area, so that the adjustment amount of the cleaning value of the target area is determined.
  • the first cleaning value is the cleaning value before the target area is cleaned
  • the second cleaning value is the cleaning value after the target area is cleaned.
  • the adjustment amount is the decrease amount of the cleaning value
  • the drag of the wiper is adjusted according to the adjustment amount of the cleaning value of the target area
  • the way to achieve the wipe value is to increase the drag value of the wiper by an increase amount, which is equal to the adjustment amount of the cleaning value of the target area.
  • the accumulated cleaning information is one of total cleaning time or current cleaning times.
  • the cumulative cleaning information is the total cleaning time: where the total cleaning time refers to the cumulative cleaning time of the wiper on the target area, the longer the cumulative cleaning time, the lower the dirtiness of the target area and the higher the dirtiness of the wiper
  • the first cleaning value is the cleaning value before the target area is cleaned
  • the second cleaning value is the cleaning value after the target area reaches the cumulative cleaning time
  • the cleaning value of the target area decreases as the cumulative cleaning time increases.
  • the cleaning value and accumulated cleaning time of the target area may be any one of the following three relationships:
  • the cleaning value decreases evenly with the increase of the accumulated cleaning time, and the amount of decrease (ie, the adjustment amount) of the cleaning value does not change with the increase of the accumulated cleaning time.
  • the adjustment amount of the cleaning value is inversely proportional to the accumulated cleaning time: in the case where the first cleaning value is greater than the second cleaning value, the adjustment amount of the cleaning value is the decrease of the cleaning value. Since the adjustment amount of the cleaning value is inversely proportional to the cumulative cleaning time, as the cumulative cleaning time increases, the decrease in the cleaning value gradually becomes smaller within the same cleaning time. It can be seen that this situation is a situation similar to the exponentially decreasing relationship between the cleaning value and the cumulative cleaning time, and both are in line with the actual situation.
  • the accumulated cleaning information is the current number of cleanings: the current number of cleanings refers to the cumulative number of cleanings of the target area by the wiper. The more accumulated cleaning times, the lower the dirtiness of the target area and the higher the dirtiness of the wiper.
  • the first cleaning value is the cleaning value before the target area is cleaned
  • the second cleaning value is the cleaning value after the target area reaches the cumulative cleaning times, and the cleaning value of the target area decreases as the cumulative cleaning times increase.
  • the cleaning value and the cumulative cleaning frequency of the target area can also be any of the following three relationships: the cleaning value and the cumulative cleaning frequency are linearly decreasing, the cleaning value and the cumulative cleaning frequency are exponentially decreasing, cleaning The amount of adjustment of the value is inversely proportional to the cumulative number of cleanings, and the latter two relationships are more consistent with the actual situation. Since the principle is the same as the principle in the accumulated cleaning time for the accumulated cleaning time, it will not be repeated here.
  • the adjustment amount is an increase of the cleaning value
  • the drag is adjusted according to the adjustment amount of the cleaning value of the target area
  • the way of realizing the dragging value of the piece is to reduce the dragging value of the dragging piece by a reduction amount, which is equal to the adjustment amount of the cleaning value of the target area.
  • Step 1002 if the drag value meets the cleaning condition, perform a wiper cleaning operation related to cleaning the wiper.
  • the drag value of the wiper After adjusting the drag value of the wiper based on any of the above optional embodiments, if the drag value meets the cleaning conditions, it means that the dirtiness of the wiper is no longer suitable for continuing to clean the ground. The wiper is cleaned, so the mopping robot can be triggered to perform a wiper cleaning operation related to cleaning the wiper.
  • the drag value satisfying the cleaning condition includes the drag value reaching the drag threshold, then after the drag value of the wiper reaches the reference drag threshold, the related wiper cleaning operation can be performed.
  • the dragging threshold value and unit are also different.
  • the wiper threshold is the cleaning time threshold, such as 1000 seconds, then when the accumulated cleaning time of the wiper reaches 1000 seconds, the relevant wipe is performed Part cleaning operation;
  • the drag threshold is the threshold of cleaning times, such as 500 times, when the cumulative number of cleaning of the wiper reaches 500 times, the relevant Scrubbing parts cleaning operation.
  • performing the cleaning operation of the wiper related to cleaning the wiper includes: controlling the mopping robot to move to the base station, so as to clean the wiper of the mopping robot through the base station.
  • the cleaning method of the mop by the base station may be that the mopping robot moves into the base station so that the mop at the bottom of the mopping robot is located on the cleaning tank of the base station, and the cleaning tank sprays the mop for cleaning At the same time, it controls the sliding friction between the wiper and the convex rib of the cleaning tank, so as to realize the cleaning of the wiper.
  • the drag value of the wiper is adjusted so that the wiper represented by the wipe value is dirty The degree is reduced. The reason is that after the wiper is cleaned by the base station, the stain carried by the wiper is washed away, the dirtiness of the wiper is reduced, therefore, the drag value of the wiper needs to be adjusted accordingly. Does not reach the drag threshold, you can control the mopping robot to move away from the base station and start cleaning the target area again.
  • the mop cleaning operation can also be It is other implementations, for example, the mopping robot prompts the user to replace the wiper, such as sending a reminder audio through the speaker on the mopping robot, or sending a warning light signal through the indicator on the mopping robot, or sending a prompt message to the terminal , So that the terminal prompts the user to replace the wiper. In this way, the user can clean the replacement wiper.
  • the cleaning operation of the wiper can also move the robot to the base station, and the dirty wiper can be automatically replaced with a clean wiper on the base station, wherein the dirty wiper is automatically performed on the base station Cleaning, or by the user.
  • the method for controlling the mopping robot further includes: before the mopping robot moves from the first position to the second position on the ground to clean the ground, it is estimated that A movement trajectory where the position moves to the second position; based on the movement trajectory, it is predicted whether the drag value of the drag member meets the cleaning conditions during the process of the mopping robot moving from the first position to the second position.
  • the first position and the second position are both actual positions in the area to be cleaned
  • the manner of estimating the movement trajectory of the mopping robot from the first position to the second position may be: at the first position and When there is no obstacle between the second positions, the moving trajectory of the mopping robot from the first position to the second position is a linear trajectory from the first position to the second position; between the first position and the second position When there is an obstacle in between, the mopping robot needs to bypass the obstacle and select a non-linear reference trajectory as the movement trajectory from the first position to the second position.
  • the amount of change in the value of the drag is the amount of change in the cleaning value of all target areas passed during the movement And; if the sum of the current drag value of the wiper and the change of the drag value during the predicted movement meets the cleaning conditions, it means that the mopping robot is moving from the first position to the second position.
  • the drag value of will meet the cleaning conditions at a point in the middle of the movement, then the wiper should only be set to clean the ground before reaching this point. After reaching this point, because the drag value of the wiper has met the cleaning conditions Therefore, the wiper is not suitable for continuing to clean the target area from this point to the second position.
  • the mopping robot when the prediction result is that the mopping robot moves from the first position to the second position, and the drag value of the mop meets the cleaning conditions, the mopping robot is controlled from the first position to the base station. Move to make the base station clean the wiper, thereby avoiding the wiper meeting the cleaning conditions in the middle of the movement, and ensuring the drag effect of the wiper.
  • the mopping robot is controlled to move from the position where the base station is located to the second position, so as to ensure that the cleaning of the mopping robot does not affect the subsequent cleaning process.
  • the mopping robot by adjusting the drag value of the wiper, and the drag value indicates the degree of dirtiness of the wiper, the mopping robot is controlled to execute when the drag value meets the cleaning conditions
  • the cleaning operation of the wiper implements the cleaning of the wiper based on the dirtiness of the wiper. Therefore, this control method is more intelligent and flexible, so that the wiper can be cleaned in time, thus ensuring the The cleaning effect of the ground.
  • the drag value of the wiper is adjusted according to the cleaning value, which conforms to the actual cleaning process in which stains are transferred from the ground to the wiper; and there are many ways to determine the clean value, which has high flexibility and a wide range of application.
  • this embodiment also provides a control device for a mopping robot.
  • the device should be set as a mopping robot.
  • the mopping robot is provided with a mop, and the mop is set to Mopping and cleaning the ground, the device includes:
  • the adjustment module 1501 is configured to adjust the drag value of the mopping piece if the mopping robot drags the ground through the mopping piece, and the drag value is set to indicate the degree of dirtiness of the mopping piece;
  • the control module 1502 is configured to execute a cleaning operation of the wiper related to cleaning the wiper if the drag value meets the cleaning condition.
  • the adjustment module 1501 includes: a determination unit 15011 set to determine the cleaning value of the target area, the target area is the area cleaned by the rubbing piece on the ground, and the cleaning value is set to indicate the degree of contamination of the target area
  • the adjustment unit 15012 is set to adjust the drag value of the wiper according to the cleaning value of the target area.
  • the determining unit 15011 is set to acquire an area map of the area to be cleaned; locate a target map area representing the target area on the area map; determine a cleaning value assigned to the target map area, and use the cleaning value of the target map area As the cleaning value of the target area.
  • the cleaning value indicates whether the target area is cleaned, and the degree of dirt that is cleaned is less than the degree of dirt that has not been cleaned;
  • the drag value indicates the area range where the wiper cleans, and the larger the area that the wiper cleans, The higher the dirtiness of the wiper;
  • the determination unit 15011 is also set to adjust the cleaning value of the target area from the uncleaned mark to the cleaned mark if the target area is cleaned by the wiper;
  • the adjustment unit 15012 is set to be based on the target
  • the area-adjusted cleaning value updates the area of the area cleaned by the wiper to obtain the adjusted wiper value of the wiper.
  • the cleaning value indicates the cleaning time required for the target area.
  • the longer the cleaning time required the higher the dirtiness of the target area
  • the drag value indicates the accumulated cleaning time of the wiper.
  • the longer the accumulated cleaning time the The higher the dirtiness of the piece
  • the determining unit 15011 is also set to calculate the cleaning time for the cleaning of the target area by the wiper; adjust the cleaning time currently required for the target area according to the cleaning time, to obtain the adjusted cleaning time to adjust the adjusted time
  • the cleaning time is used as the adjusted cleaning value of the target area
  • the adjustment unit 15012 is set to adjust the drag value of the wiper according to the cleaning time adjustment amount if the adjustment amount of the target area cleaning time is not zero, and the cleaning time adjustment amount is based on current needs And the adjusted cleaning time is obtained.
  • the cleaning value represents the total number of cleanings required in the target area.
  • the dragging value indicates the cumulative number of cleanings of the wiper, and the more the cumulative number of cleanings, The higher the degree of dirtiness of the wiper;
  • the determination unit is also set to count the number of times the wiper has cleaned the target area; adjust the total number of times the target area currently needs cleaning according to the number of cleansing to obtain the adjusted number of cleanings,
  • the adjusted cleaning frequency is used as the adjusted cleaning value of the target area;
  • the adjusting unit 15012 is set to adjust the drag value of the wiper based on the cleaning frequency adjustment amount if the adjustment amount of the cleaning frequency of the target area is not zero, and the cleaning frequency adjustment The amount is obtained based on the total number of cleanings currently required and the adjusted number of cleanings.
  • the determination unit 15011 is also set to determine the adjustment value of the cleaning value of the target area; the adjustment unit 15012 is set to adjust the drag value of the wiper according to the adjustment amount of the cleaning value of the target area.
  • the determining unit 15011 is set to adjust the cleaning value of the target area from the first cleaning value to the second cleaning value according to the cleaning accumulation information, where the cleaning accumulation information is the total cleaning time or the current cleaning times, and the total cleaning time is Cumulative cleaning time of the wiper on the target area, the current number of cleanings is the cumulative cleaning frequency of the wiper on the target area; the difference between the first cleaning value and the second cleaning value is determined as the adjustment of the cleaning value of the target area the amount.
  • the cleaning value and the cumulative cleaning information have a linear decreasing relationship; or, the cleaning value and the cumulative cleaning information have an exponentially decreasing relationship; or, the adjustment amount and the cleaning cumulative information have an inverse relationship.
  • control module 1502 is set to control the mopping robot to move to the base station to clean the mopping parts of the mopping robot through the base station; the adjustment module 1501 is also set to adjust the mopping after the mop is cleaned by the base station
  • the rubbing value of the wiper is such that the dirtiness of the wiper represented by the rubbing value is reduced.
  • the device further includes: a prediction module 1503, which is configured to estimate the mopping robot from before the mopping robot moves from the first position to the second position on the ground to perform mopping cleaning on the ground The movement trajectory of the first position moving to the second position; the determination module 1504 is set to predict based on the movement trajectory whether the drag value of the wiper meets the cleaning conditions during the process of the mopping robot moving from the first position to the second position; The control module 1502 is configured to control the mopping robot to move from the first position to the base station if the prediction result is that the mopping robot's drag value meets the cleaning conditions during the process of the mopping robot moving from the first position to the second position, To make the base station clean the wiper; the control module 1502 is further configured to control the mopping robot to move from the position where the base station is to the second position after the wiper is cleaned by the base station.
  • a prediction module 1503 which is configured to estimate the mopping robot from before the mopping robot moves from the first position to the second position on the ground to perform mopping cleaning on
  • the friction value meeting the cleaning condition includes the friction value reaching the friction threshold.
  • the area map of the area to be cleaned is a grid map represented by multiple grids; the target map area is represented by grids.
  • the mopping robot by adjusting the drag value of the wiper, and the drag value indicates the degree of dirtiness of the wiper, the mopping robot is controlled to execute when the drag value meets the cleaning conditions
  • the cleaning operation of the wiper implements the cleaning of the wiper based on the dirtiness of the wiper. Therefore, this control method is more intelligent and flexible, so that the wiper can be cleaned in time, thus ensuring the The cleaning effect of the ground.
  • the drag value of the wiper is adjusted according to the cleaning value of the ground, which conforms to the actual cleaning process in which stains are transferred from the ground to the wiper; moreover, there are many ways to determine the clean value, with high flexibility and applicable scope wide.
  • this embodiment provides a control device for a mopping robot.
  • the control device for a mopping robot includes: a memory, a processor, and a mop that is stored on the memory and can run on the processor
  • the control program of the ground robot wherein the control program of the ground robot is executed by the processor to implement the control method of the ground robot.
  • this embodiment provides a computer-readable storage medium with instructions stored in it, which when executed on a computer, causes the computer to execute the control method of the mopping robot described in the above embodiments .
  • control device and the computer-readable storage medium of the mopping robot provided by the embodiments of the present invention, please refer to the above embodiments of the control method of the mopping robot, and the present invention will not repeat them here.
  • the program may be stored in a computer-readable storage medium.
  • the mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

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Abstract

一种拖地机器人（100）的控制方法、装置、设备及存储介质，拖地机器人（100）设有拖擦件（110），拖擦件（110）设置为对地面进行拖地清洁，拖地机器人（100）的控制方法包括：若拖地机器人（100）通过拖擦件（110）拖擦地面，调整拖擦件（110）的拖擦数值，拖擦数值设置为表示拖擦件（110）的脏污程度（1001）；若拖擦数值满足清洗条件，执行拖擦件（110）清洗操作（1002）。

Description

拖地机器人的控制方法、装置、设备及存储介质
相关申请
本申请要求2019年1月8日申请的，申请号201910017367.7，名称为“拖地机器人的控制方法、装置、设备及存储介质”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请涉及智能家居技术领域，特别涉及一种拖地机器人的控制方法、装置、设备及存储介质。
背景技术
随着智能家居技术的不断发展，各种智能家居设备应运而生，拖地机器人便是其中的一种。在家庭室内清洁以及大型场所清洁等场景中，拖地机器人可设置为对地面进行自动清洁。因此，如何对拖地机器人进行控制，是保证清洁效果的关键。
相关技术中，预先设定拖地机器人的移动轨迹，并控制拖地机器人按照预先设定的移动轨迹进行移动，以通过设置于拖地机器人上的拖擦件进行地面清洁。然后，由用户自己决定清洗拖擦件的时机。当用户需要清洗拖擦件时，用户从拖地机器人上取下拖擦件，然后对拖擦件进行手动清洗。
然而，上述控制方式不够智能，灵活性不高，从而影响地面清洁效果。
申请内容
本申请实施例提供了一种拖地机器人的控制方法、装置、设备及存储介质，以解决相关技术中对拖地机器人的控制不够智能、灵活性不高的问题。
为实现上述目的，本申请提供了一种拖地机器人的控制方法，设置为拖地机器人，所述拖地机器人设有拖擦件，所述拖擦件设置为对地面进行拖地清洁；
所述拖地机器人的控制方法包括：
若所述拖地机器人通过所述拖擦件拖擦地面，调整所述拖擦件的拖擦数值，其中，所述拖擦数值设置为表示所述拖擦件的脏污程度；
若所述拖擦数值满足清洗条件，执行拖擦件清洗操作。
为实现上述目的，本申请还提出一种拖地机器人的控制装置，设置为拖地机器人，所述拖地机器人设有拖擦件，所述拖擦件设置为对地面进行拖地清洁；
所述拖地机器人的控制装置装置包括：
调整模块，设置为若所述拖地机器人通过所述拖擦件拖擦地面，调整所述拖擦件的拖擦数值，所述拖擦数值设置为表示所述拖擦件的脏污程度；
控制模块，设置为若所述拖擦数值满足清洗条件，执行拖擦件清洗操作。
为实现上述目的，本申请还提出一种拖地机器人的控制设备，所述拖地机器人的控制设备包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的拖地机器人的控制程序，所述拖地机器人的控制程序被所述处理器执行时实现如下步骤：
若所述拖地机器人通过所述拖擦件拖擦地面，调整所述拖擦件的拖擦数值，其中，所述拖 擦数值设置为表示所述拖擦件的脏污程度；
若所述拖擦数值满足清洗条件，执行拖擦件清洗操作。
为实现上述目的，本申请还提出一种计算机可读存储介质，所述计算机可读存储介质上存储有拖地机器人的控制程序，所述拖地机器人的控制程序被处理器执行时实现如下步骤：
若所述拖地机器人通过所述拖擦件拖擦地面，调整所述拖擦件的拖擦数值，其中，所述拖擦数值设置为表示所述拖擦件的脏污程度；若所述拖擦数值满足清洗条件，执行拖擦件清洗操作。
本申请实施例通过调整拖擦件的拖擦数值，而拖擦数值表示的是拖擦件的脏污程度，则在拖擦数值满足清洗条件的情况下控制拖地机器人执行拖擦件的清洗操作，实现了基于拖擦件的脏污程度来控制拖擦件的清洗，因此，该种控制方式更为智能和灵活，从而能够对拖擦件进行及时清洗，进而保证了地面的清洁效果。
附图说明
图1是本申请实施例提供的拖地机器人的立体示意图；
图2是本申请实施例提供的拖地机器人拆除部分壳体后的结构示意图；
图3是本申请实施例提供的拖地机器人的仰视图；
图4是本申请实施例提供的拖地机器人的结构示意图；
图5是本申请实施例提供的基站的正视图；
图6是本申请实施例提供的基站打开顶盖后的立体示意图；
图7是本申请实施例提供的基站的结构示意图；
图8是本申请实施例提供的拖地机器人驶向基站的示意图；
图9是本申请实施例提供的拖地机器人停靠在基站上的状态的示意图；
图10是本申请实施例提供的拖地机器人的控制方法的流程图；
图11是本申请实施例提供的栅格地图的结构示意图；
图12是本申请实施例提供的确定目标地图区域的示意图；
图13是本申请实施例提供的清洁数值与累计清洁时间的示意图；
图14是本申请实施例提供的拖擦数值与累计清洁时间的示意图；
图15是本申请实施例提供的拖地机器人的控制装置的结构示意图；
图16是本申请实施例提供的调整模块的结构示意图；
图17是本申请实施例提供的拖地机器人的控制装置的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。
随着智能家居技术的不断发展，各种智能家居设备应运而生，拖地机器人便是其中的一种。因此，如何对拖地机器人进行控制，是保证清洁效果的关键。为此，本申请实施例提供了一种拖地机器人的控制方法，该方法可应设置为拖地机器人，该拖地机器人可设置为对地面进行自动拖地清洁，拖地机器人的应用场景可以为家庭室内清洁、大型场所清洁等。
如图1至图4所示，拖地机器人100包括机器人主体101、驱动电机102、传感器单元103、控制器104、电池105、行走单元106、存储器107、通信单元108、机器人交互单元109、拖擦件110、和充电部件111等。
机器人主体101可以为圆形结构、方形结构等。在本申请实施例中，以机器人主体101为D字形结构为例进行说明。如图1所示，机器人主体101前部为倒圆角的矩形结构，后部为半圆形结构。在本申请实施例中，机器人主体101为左右对称结构。
拖擦件110设置为对地面进行拖地清洁，拖擦件110的数量可以为一个或多个。拖擦件110例如为拖布。拖擦件110设置在机器人主体101的底部，具体为机器人主体101的底部靠前的位置。在机器人主体101内部设有驱动电机102，在机器人主体101的底部伸出两个转轴，拖擦件110套接在转轴上。驱动电机102可带动转轴旋转，从而转轴带动拖擦件110旋转。
行走单元106为与拖地机器人100的移动相关的部件，行走单元106包括驱动轮1061和万向轮1062。万向轮1062和驱动轮1061配合实现拖地机器人100的转向和移动。在机器人主体101的底面靠后部的位置，左右两边各设置一个驱动轮1061。万向轮1062设置在机器人主体101的底面的中心线上，且位于两个拖擦件110之间。
其中，每一驱动轮1061上设有驱动轮电机，在驱动轮电机的带动下，驱动轮1061转动。驱动轮1061转动后，带动拖地机器人100移动。通过控制左右驱动轮1061的转速差，可控制拖地机器人100的转向角度。
控制器104设置在机器人主体101内部，控制器104设置为控制拖地机器人100执行具体的操作。该控制器104例如可以为中央处理器(Central Processing Unit，CPU)、或微处理器(Microprocessor)等。如图4所示，控制器104与电池105、存储器107、驱动电机102、行走单元106、传感器单元103、以及机器人交互单元109等部件电连接，以对这些部件进行控制。
机器人主体101上还设有充电部件111，该充电部件111设置为从外部设备获取电力，从而向拖地机器人100的电池105进行充电。
存储器107设置在机器人主体101上，存储器107上存储有程序，该程序被控制器104执行时实现相应的操作。存储器107还设置为存储供拖地机器人100使用的参数。其中，存储器107包括但不限于磁盘存储器、只读光盘(Compact Disc Read-Only Memory，CD-ROM)、光学存储器等。
通信单元108设置在机器人主体101上，通信单元108设置为让拖地机器人100和外部设备进行通信，通信单元108包括但不限于无线保真(WIreless-Fidelity，WI-FI)通信模块1081和短距离通信模块1082等。拖地机器人100可以通过WI-FI通信模块1081连接WI-FI路由器，从而与终端进行通信。拖地机器人100通过短距离通信模块1082与基站进行通信。其中，基站为配合拖地机器人100使用的清洁设备。
在机器人主体101上设置的传感器单元103包括各种类型的传感器，例如激光雷达1031、碰撞传感器1032、距离传感器1033、跌落传感器1034、计数器1035、和陀螺仪1036等。
在机器人主体101的内部还设有计数器1035和陀螺仪1036。计数器1035设置为对驱动轮1061的转动角度总数进行累计，以计算出驱动轮1061驱动拖地机器人100移动的距离长度。 陀螺仪1036设置为检测拖地机器人100转动的角度，从而可确定出拖地机器人100的朝向。
机器人交互单元109设置在机器人主体101上，用户可通过机器人交互单元109和拖地机器人100进行交互。机器人交互单元109例如包括开关按钮1091、和扬声器1092等部件。用户可通过按压开关按钮1091，控制拖地机器人100启动工作或停止工作。拖地机器人100可通过扬声器1092向用户播放提示音。
应该理解，本申请实施例描述的拖地机器人100只是一个具体示例，并不对本申请实施例的拖地机器人100构成具体限定，本申请实施例的拖地机器人100还可以为其它的具体实现方式。例如，在其它的实现方式中，拖地机器人可以比图1所示的拖地机器人100有更多或更少的部件。基站200设置为和拖地机器人100配合使用，例如，基站200可以向拖地机器人100进行充电、基站200可以向拖地机器人100提供停靠位置等。基站200还可以清洗拖地机器人100的拖擦件110。其中，拖擦件110设置为对地面进行拖地清洁。
如图5和图6所示，本申请实施例的基站200包括基站主体202、清洗槽203和水箱204。清洗槽203设置在基站主体202上，清洗槽203设置为清洗拖地机器人的拖擦件110。设置在清洗槽203上的清洗肋2031可对拖擦件110进行刮擦清洁。在基站主体202上设有入槽口205，入槽口205通向清洗槽203。拖地机器人100可通过入槽口205驶入基站200，以使得拖地机器人100停靠在基站200上的预设停靠位置。
水箱204设置在基站主体202内，水箱204具体包括清水箱和污水箱。清水箱设置为存储清洁用水。在拖地机器人100停靠在基站200上，拖地机器人100的拖擦件110容置于清洗槽203上。清水箱向清洗槽203提供清洁用水，清洁用水设置为清洗拖擦件110。然后，清洗拖擦件110后的脏污水被收集到污水箱中。在基站主体202上设有顶盖201，用户通过打开顶盖201，可从基站主体202中取出水箱204。
参阅图7，本申请实施例的基站200还包括控制器206、通信单元207、存储器208、水泵209和基站交互单元210等。
控制器206设置在基站主体202内部，控制器206设置为控制基站200执行具体的操作。控制器206例如可以为中央处理器(Central Processing Unit，CPU)、或微处理器(Microprocessor)等。其中，控制器206与通信单元207、存储器208、水泵209和基站交互单元210电连接。
存储器208设置在基站主体202上，存储器208上存储有程序，该程序被控制器206执行时实现相应的操作。存储器208还设置为存储供基站200使用的参数。其中，存储器208包括但不限于磁盘存储器、CD-ROM、光学存储器等。
水泵209设置在基站主体202内部，具体来说，水泵209有两个，一个水泵209设置为控制清水箱向清洗槽203提供清洁用水，另一个水泵209设置为将清洗拖擦件110后的脏污水收集到污水箱中。
通信单元207设置在基站主体202上，通信单元207设置为和外部设备进行通信，通信单元207包括但不限于无线保真(WIreless-Fidelity，WI-FI)通信模块2071和短距离通信模块2072等。基站200可以通过WI-FI通信模块2071连接WI-FI路由器，从而与终端进行通信。基站200可通过短距离通信模块2072与拖地机器人100进行通信。
基站交互单元210设置为和用户进行交互。基站交互单元210例如包括显示屏2101和控制按钮2102，显示屏2101和控制按钮2102设置在基站主体202上，显示屏2101设置为向用户展示信息，控制按钮2102设置为供用户进行按压操作，以控制基站200的开机或停机等。
基站主体202上还设有供电部件，而拖地机器人上设有充电部件111，当拖地机器人100停靠在基站200上的预设停靠位置后，拖地机器人100的充电部件111和基站200的供电部件接触，从而基站200向拖地机器人100进行充电。其中，基站200的电能可来源于市电。
下文对拖地机器人100和基站200配合工作的过程进行示例性说明：
拖地机器人100对房间的地面进行清洁，当拖地机器人100上的电池105的电量少于预设电量阈值时，如图8所示，拖地机器人100自动驶向基站200。拖地机器人100通过基站200上的入槽口205进入基站200，并停靠在基站200上的预设停靠位置。拖地机器人100停靠在基站200上的状态可参阅图9。
此时，拖地机器人100上的充电部件111和基站200上的供电部件接触，基站200从市电获取电力，并通过供电部件和充电部件111向拖地机器人100的电池105进行充电。拖地机器人100充满电后，驶离基站200，继续对房间地面进行清洁。
拖地机器人100可设置为对地面进行拖地清洁。拖地机器人100对房间地面拖地一段时间，拖擦件110变脏污后，拖地机器人100驶向基站200。拖地机器人100通过基站200上的入槽口205进入基站200，并停靠在基站200上的预设停靠位置。拖地机器人100停靠在基站200上的状态可参阅图9。此时，拖地机器人100的拖擦件110容置在清洗槽203上，在水泵209的作用下，基站200内的清水箱的清洁用水流向清洗槽203，通过清洗槽203上的进液结构喷向拖擦件110上，同时拖擦件110与清洁槽内的凸起的清洗肋2031刮擦，从而实现对拖擦件110的清洁。清洗拖擦件110后的脏污水从清洁槽上的排液结构流出清洗槽203，在水泵209的作用下，脏污水收集到污水箱。
应该理解，本申请实施例描述的基站200只是一个具体示例，并不对本申请实施例的基站200构成具体限定，本申请实施例的基站200还可以为其它的具体实现方式，例如，本申请实施例的基站200可以不包括水箱204，基站主体202可以连接自来水管和排水管，从而使用自来水管的自来水清洗拖地机器人100的拖擦件110，清洗拖擦件110后的脏污水由清洗槽203通过排水管流出基站200。或者，在其它的实现方式中，基站可以比图5所示的基站200有更多或更少的部件。
基于上述拖地机器人100以及基站200，本申请实施例提供了一种控制拖地机器人的方法，该方法应设置为拖地机器人，拖地机器人设有拖擦件，拖擦件设置为对地面进行拖地清洁。如图10所示，该方法包括：
步骤1001，若拖地机器人通过拖擦件拖擦地面，调整拖擦件的拖擦数值，拖擦数值设置为表示拖擦件的脏污程度。
其中，拖地机器人的底部设置有拖擦件和驱动轮，当拖地机器人在驱动轮的驱动下进行移动时，拖擦件也相对地面发生滑动，从而实现对地面的拖擦清洁。
其中，拖擦件的拖擦方式包括但不限于以下几种方式：
拖擦方式一：拖擦件直接固定于拖地机器人的底部，随拖地机器人的移动而移动，从而实现对地面的拖擦。可以看出，在拖擦方式一中，拖擦件的拖擦轨迹与拖地机器人的移动轨迹相同。
拖擦方式二：拖地机器人设置有转动轴，该转动轴可贯穿整个拖地机器人，或者位于拖地机器人的底部，拖擦件通过该转动轴间接固定于拖地机器人的底部。在拖地机器人的移动过程中，该转动轴可带动拖擦件发生旋转，旋转的拖擦件和地面产生滑动摩擦，从而实现对地面的拖擦，此时拖擦件的拖擦轨迹与拖地机器人的移动轨迹不同。
拖擦方式三：拖地机器人同时执行上述的拖擦方式一和拖擦方式二。例如，拖擦件安装到拖地机器人的转动轴上，拖地机器人一边在地面上移动，一边转动拖擦件，从而拖擦件即随着拖地机器人的移动而在地面上移动，也随着转动轴的驱动而进行转动。
无论是上述哪种拖擦方式，可用拖擦数值来表示拖擦件的脏污程度，在拖擦件对地面的拖擦过程中，通过调整拖擦件的拖擦数值，来反映拖擦件的脏污程度变化，进而基于拖擦数值控制对拖擦件进行清洗。其中，拖擦件的拖擦过程可以看作是污渍由被拖擦件清洁的地面转移至拖擦件的过程，该过程中被拖擦件清洁的地面的脏污程度降低，拖擦件的脏污程度相应的升高。也就是说，拖擦件变脏是由被拖擦件清洁的地面引起的，因此，在一种可选的实施方式中，可以通过被拖擦件清洁的地面的脏污程度调整拖擦件的脏污程度。
在该实施方式中，将地面上被拖擦件清洁的区域作为目标区域，可用清洁数值来表示目标区域的脏污程度，则调整拖擦件的拖擦数值的步骤具体包括：确定目标区域的清洁数值，根据目标区域的清洁数值调整拖擦件的拖擦数值。
可选地，确定目标区域的清洁数值的方式包括但不限于如下几种：
1)预先向待清洁区域的区域地图配置目标区域的清洁数值，从而从区域地图中确定表示目标区域的目标地图区域后，可确定出配置给目标地图区域的清洁数值，以目标地图区域的清洁数值作为目标区域的清洁数值。
2)用户通过其他设备设定目标区域的清洁数值，拖地机器人可从这些设备直接获取目标区域的清洁数值。例如，用户通过智能手机输入待清洁区域的地面(包括目标区域)的清洁数值都为100。
3)拖地机器人根据待清洁区域的当前拖擦次数，确定待清洁区域的地面(包括目标区域)的清洁数值都为预设值。
可选地，为了能对具体的区域的脏污程度进行准确的分析，以提高对地面的清洁效率，可将清洁数值和区域地图进行结合，从而根据区域地图确定出具体的区域的清洁数值。此时，确定目标区域的清洁数值的步骤包括：获取待清洁区域的区域地图；在区域地图上定位出表示目标区域的目标地图区域；确定出配置给目标地图区域的清洁数值，以目标地图区域的清洁数值作为目标区域的清洁数值。
其中，区域地图设置为描述待清洁区域的信息，可选地，区域地图可以为栅格地图，栅格地图包括多个栅格，每个栅格均对应待清洁区域的一部分。例如，如图11所示，白色的栅格表示待清洁区域中拖擦件可以拖擦的区域，即，拖地机器人可通行的区域。黑色的栅格表示待清 洁区域中拖擦件无法拖擦的区域，即障碍物区域。当然，本申请实施例不对待清洁区域的区域地图类型加以限定，也可以采用其他类型的区域地图(如特征地图、拓扑地图等区域地图)来描述待清洁区域的信息。
其中，获取区域地图的方式包括但不限于：拖地机器人通过安装的激光雷达对待清洁区域进行探测，得到区域地图；拖地机器人沿待清洁区域的边缘移动，根据移动轨迹得到区域地图；用户通过终端将区域地图输入给拖地机器人；拖地机器人向服务器发起区域地图的获取指令，从而获取服务器返回的区域地图；拖地机器人通过安装的惯性测量单元(Inertial measurement unit，IMU)和碰撞传感器探测待清洁区域得到区域地图；拖地机器人通过安装的视觉传感器对待清洁区域进行感测，以获取区域地图等等。
进一步地，为了在获取区域地图后，能确定出配置给目标地图区域的清洁数值，可以通过如下的几种方式预先为区域地图配置清洁数值：
配置方式一，为区域地图配置默认的清洁数值。例如，在拖地机器人开始拖擦之前，为区域地图配置一参考清洁数值，如100。当区域地图为栅格地图时，可为每个栅格均配置该参考清洁数值，即默认每个栅格的脏污程度相同。
配置方式二，用户直接为区域地图配置清洁数值。例如，拖地机器人将获取的区域地图推送给终端，用户通过终端配置清洁数值。当区域地图为栅格地图时，用户可分别为每个栅格配置不同的清洁数值，也可以批量配置栅格的清洁数值。
配置方式三，拖地机器人按照参考方式为区域地图配置清洁数值。例如，拖地机器人通过图像传感器拍摄待清洁区域，得到待清洁区域图像，分析该待清洁区域图像得到待清洁区域的脏污程度，为区域地图配置待清洁区域的脏污程度对应的清洁数值。当区域地图为栅格地图时，拖地机器人可分别为每个栅格配置不同的清洁数值，也可以批量配置栅格的清洁数值。
获取待清洁区域的区域地图之后，在区域地图上定位出表示目标区域的目标地图区域。其中，目标区域是指地面上被拖擦件清洁的区域，而目标地图区域是目标区域在区域地图中对应的区域，也就是说，目标区域是地面上的实际区域，目标地图区域是区域地图中的虚拟区域。
其中，在区域地图上定位出表示目标区域的目标地图区域的一种可选方式如步骤21和步骤22所示。
步骤21，获取拖地机器人在区域地图中的位置点。
获取拖地机器人在区域地图中的位置点，换言之，拖地机器人在区域地图中进行定位。
获取拖地机器人在待清洁区域中的位置点，将该待清洁区域中的位置点映射到区域地图中，从而获取到拖地机器人在区域地图中的位置点。其中，待清洁区域的区域地图包括地图基准点，且该地图基准点与待清洁区域中的一个实际基准点相对应，即该实际基准点在区域地图中由地图基准点表示。该实际基准点可以为待清洁区域中的任一位置。
进行获取时，首先通过定位装置获取拖地机器人在待清洁区域中的当前位置点，并计算该当前位置点与待清洁区域的实际基准点的位置关系信息(位置关系包括但不限于距离信息和方向信息)；
其次，将该位置关系信息映射到区域地图中，得到区域地图中的位置关系信息。例如，当 位置关系信息包括距离信息和方向信息时，映射方式可以为将距离信息按照区域地图与待清洁区域之间的参考比例进行缩小或放大，得到区域地图中的距离信息，而将方向信息直接作为区域地图中的方向信息；
最后，以区域地图中的地图基准点为基准，根据区域地图中的位置关系信息获取拖地机器人在区域地图中的位置点，该位置点即为拖地机器人在区域地图中的当前位置点。
例如，以区域地图为栅格地图为例，对获取拖地机器人在区域地图中的位置点的过程进行说明：
以栅格地图中的(0,0)位置为地图基准点，该(0,0)地图基准点对应待清洁区域中的实际基准点(x0，y0)。进行获取时，首先通过定位装置获取拖地机器人在待清洁区域中的当前位置点(x1，y1)，并计算(x1，y1)与(x0，y0)的位置关系信息；其次，将该位置关系信息映射到栅格地图中，假设栅格地图与待清洁区域之间的参考比例为A，则经过映射得到的栅格地图中的位置关系信息为[(x1-x0)/A，(y1-y0)/A]；最后，以(0,0)为基准点，获取拖地机器人在栅格地图中的位置点为[0+(x1-x0)/A，0+(y1-y0)/A]，该位置点即为拖地机器人在栅格地图中的当前位置点。
应该理解，步骤21还有其它的具体实现方式，例如，拖地机器人通过探测传感器(例如激光雷达、或者摄像头)探测出所在环境的特征，然后根据该所在环境的特征和区域地图表示的房间特征进行匹配，以实现拖地机器人在区域地图中的定位。或者，拖地机器人通过惯性传感器、或者卫星定位系统进行定位等等。
步骤22，基于拖地机器人在区域地图中的位置点确定目标区域的目标地图区域。
获取拖地机器人在区域地图中的位置点后，可基于该位置点确定目标区域的目标地图区域。具体来说，因拖地机器人设置为定位的位置为固定位置，该设置为定位的位置和拖擦件的位置关系固定，从而可以利用设置为定位的位置和拖擦件的位置关系，基于该位置点确定目标区域的目标地图区域。
例如，当区域地图为栅格地图时，如图12所示，将位置点所在的栅格作为基准栅格，沿拖地机器人前进方向取3行栅格，沿垂直于拖地机器人前进方向在基准栅格左右各取3个栅格，即将3行7列共21个栅格作为目标区域的目标地图区域。需要说明的是，目标地图区域可以为一个或多个栅格。
根据上述内容可以得知，在获取待清洁区域的区域地图后，因为已经为区域地图配置了清洁数值，因而此时可直接确定区域地图中的目标地图区域的清洁数值，并将目标地图区域的清洁数值作为目标区域的清洁数值。
通过上述内容描述的方式，拖地机器人可确定出目标区域的清洁数值，然后，根据目标区域的清洁数值调整拖擦件的拖擦数值。
其中，拖地机器人在对地面进行清洁的过程中，可以只调整拖擦件的拖擦数值；也可以既调整目标区域的清洁数值，也调整拖擦件的拖擦数值。
在需要对目标区域进行至少两次拖地清洁时，拖地机器人既调整目标区域的清洁数值，也根据目标区域的清洁数值调整拖擦件的拖擦数值。可以使得清洁数值能准确反映目标区域当前 的脏污程度，从而根据目标区域的清洁数值调整的拖擦件的拖擦数值更为准确。为此，本申请实施例提供了如下的实现方式：
第一种实现方式：清洁数值表示目标区域是否被清洁，目标区域被清洁后的脏污程度小于未被清洁的脏污程度；相应地，拖擦数值表示拖擦件清洁的区域范围，拖擦件清洁的区域范围越大，拖擦件的脏污程度越高。确定目标区域的清洁数值之后，本实现方式的方法还包括：若目标区域被拖擦件清洁，将目标区域的清洁数值从未清洁标识调整为已清洁标识，从而实现调整目标区域的清洁数值。其中，未清洁标识表示目标区域还未被拖擦件清洁，已清洁标识表示目标区域已经被拖擦件清洁，本申请实施例不对未清洁标识和已清洁标识的表达方式进行限定。在一种可选的实施方式中，可以将两个不同的数字分别作为未清洁标识和已清洁标识。例如，1作为未清洁标识，0作为已清洁标识。当然，也可以采用0作为未清洁标识，将1作为已清洁标识。
该种方式下，根据目标区域的清洁数值调整拖擦件的拖擦数值，包括：根据目标区域的调整后的清洁数值，更新拖擦件清洁的区域范围，以得到拖擦件的调整后的拖擦数值。
也就是说，当拖擦件完成对目标区域的清洁后，该目标区域的污渍转移至拖擦件，拖擦件清洁的区域范围中增加了该目标区域的区域范围，拖擦件的脏污程度升高。若目标区域被拖擦件清洁，则将目标区域的清洁数值从未清洁标识调整为已清洁标识；相应地，根据目标区域的清洁数值更新拖擦件清洁的区域范围，以得到拖擦件的调整后的拖擦数值。
例如，在目标区域被拖擦件清洁之前，目标区域的清洁数值为1，即未清洁标识为1，在目标区域被拖擦件清洁之后，目标区域的清洁数值为0，即已清洁标识为0。若目标区域被拖擦件清洁，则将目标区域的清洁数值由1调整为0；相应地，将拖擦数值增加1，表示拖擦件清洁的区域范围中增加了该目标区域的区域范围。可以看出，拖擦数值越大，拖擦件清洁的区域范围越大，拖擦件的脏污程度越高。
或者，在目标区域被拖擦件清洁之前，目标区域的清洁数值为0，即未清洁标识为0，在目标区域被拖擦件清洁之后，目标区域的清洁数值为1，即已清洁标识为1。若目标区域被拖擦件清洁，则将目标区域的清洁数值由0调整为1；相应地，将拖擦数值减小1，表示拖擦件清洁的区域范围中增加了该目标区域的区域范围，可以看出，拖擦数值越小，拖擦件清洁的区域范围越大，拖擦件的脏污程度越高。
第二种实现方式：清洁数值表示目标区域需要的清洁用时，需要的清洁用时越长，目标区域的脏污程度越高；相应地，拖擦数值表示拖擦件的清洁累计时间，清洁累计时间越长，拖擦件的脏污程度越高。本实现方式的方法包括：计算拖擦件对目标区域清洁的清洁时长。根据清洁时长调整目标区域当前需要的清洁用时，得到调整后的清洁用时，以调整后的清洁用时作为目标区域调整后的清洁数值，从而，实现了调整目标区域的清洁数值。
该种方式下，根据目标区域的清洁数值调整拖擦件的拖擦数值，包括：若目标区域的清洁用时调整量不为零，根据清洁用时调整量调整拖擦件的拖擦数值，清洁用时调整量根据当前需要的清洁用时及调整后的清洁用时得到。
其中，在拖擦件开始对目标区域进行清洁之前，目标区域的清洁数值为目标区域当前需要 的清洁用时；以拖擦件开始对目标区域进行清洁的时间点为起点，计算拖擦件对目标区域的清洁时长，根据该清洁时长调整目标区域当前需要的清洁用时，得到调整后目标区域需要的清洁用时，以调整后目标区域需要的清洁用时作为目标区域调整后的清洁数值。
例如，在目标区域被清洁之前，目标区域当前需要的清洁用时(即目标区域的清洁数值)为10秒，则当拖擦件以6秒的清洁时长对目标区域进行清洁后，根据清洁时长(6秒)调整当前需要的清洁用时(10秒)，得到目标区域调整后的清洁用时为10秒-6秒＝4秒，将调整后的清洁用时(4秒)作为目标区域调整后的清洁数值，因此，将目标区域的清洁数值由10秒调整为4秒。
进一步地，若目标区域的清洁用时调整量不为零，根据清洁用时调整量调整拖擦件的拖擦数值，清洁用时调整量根据当前需要的清洁用时及调整后的清洁用时得到。其中，若目标区域的清洁用时调整量不为零，则说明目标区域上的污渍已经转移至拖擦件，使得拖擦件的脏污程度升高，若目标区域的清洁用时调整量为零，则目标区域上的污渍未转移至拖擦件，因而不能使拖擦件的脏污程度继续升高。因此，在目标区域的清洁用时调整量不为零的情况下，根据清洁用时调整量调整拖擦件的拖擦数值。例如，仍以目标区域当前需要的清洁用时为10秒，调整后的清洁用时为4秒为例，则清洁用时调整量为10秒-4秒＝6秒，由于6秒不为零，因此将拖擦数值增加6秒，表示拖擦件的清洁累计时间中增加了对目标区域的6秒的清洁时长，清洁累计时间增大，拖擦件的脏污程度升高。
第三种实现方式：清洁数值表示目标区域需要的清洁总次数，需要的清洁总次数越多，目标区域的脏污程度越高；相应地，拖擦数值表示拖擦件的清洁累计次数，清洁累计次数越多，拖擦件的脏污程度越高。本实现方式的方法还包括：计算拖擦件对目标区域清洁的已清洁次数。然后，根据已清洁次数调整目标区域当前需要的清洁总次数，得到调整后的清洁次数，以调整后的清洁次数作为目标区域调整后的清洁数值，从而，实现了调整目标区域的清洁数值。
该种方式下，根据目标区域的清洁数值调整拖擦件的拖擦数值，包括：若目标区域的清洁次数调整量不为零，基于清洁次数调整量调整拖擦件的拖擦数值，该清洁次数调整量根据当前需要的清洁总次数及调整后的清洁次数得到。
其中，在拖擦件开始对目标区域进行清洁之前，目标区域的清洁数值为目标区域当前需要的清洁总次数；以拖擦件第一次对目标区域进行清洁开始计次，计算拖擦件对目标区域清洁的已清洁次数，根据已清洁次数调整目标区域当前需要的清洁总次数，得到调整后的清洁次数，以调整后的清洁次数作为目标区域调整后的清洁数值。
例如，在目标区域被清洁之前，目标区域当前需要的清洁总次数(即目标区域的清洁数值)为10次，则当拖擦件以6次为已清洁次数对目标区域进行清洁后，根据已清洁次数(6次)调整当前需要的清洁总次数(10次)，得到调整后的清洁次数为10次-6次＝4次，将调整后的清洁用时(4次)作为目标区域调整后的清洁数值，因此，将目标区域的清洁数值由10次调整为4次。
进一步地，若目标区域的清洁用时调整量不为零，基于清洁次数调整量调整拖擦件的拖擦数值，清洁次数调整量根据当前需要的清洁总次数及调整后的清洁次数得到。其中，若目标区 域的清洁次数调整量不为零，则说明目标区域上的污渍已经转移至拖擦件，使得拖擦件的脏污程度升高，若目标区域的清洁次数调整量为零，则目标区域上的污渍未转移至拖擦件，因而不能使拖擦件的脏污程度继续升高。因此，在目标区域的清洁次数调整量不为零的情况下，根据清洁次数调整量调整拖擦件的拖擦数值。例如，仍以目标区域当前需要的清洁总次数为10次，调整后的清洁次数为4次为例，则清洁次数调整量为10次-4次＝6次，由于6次不为零，因此将拖擦数值增加6次，表示拖擦件的清洁累计时间中增加了对目标区域的6次的清洁次数，清洁累计次数增大，拖擦件的脏污程度升高。
可选地，本申请实施例提供的方法在确定目标区域的清洁数值之后，还包括：确定目标区域的清洁数值的调整量。
相应的，根据所述目标区域的清洁数值调整所述拖擦件的拖擦数值，包括：根据所述目标区域的清洁数值的调整量调整所述拖擦件的拖擦数值。
可选地，在本实施例中，对于目标区域的清洁数值的调整量的确定方式，可以根据清洁累计信息将目标区域的清洁数值由第一清洁数值调整为第二清洁数值，并将第一清洁数值与第二清洁数值的差值确定为目标区域的调整量，从而实现目标区域的清洁数值的调整量的确定。
可以看出，第一清洁数值是目标区域被清洁之前的清洁数值，第二清洁数值是目标区域被清洁之后的清洁数值。在清洁数值越大表示脏污程度越高的情况下，第一清洁数值大于第二清洁数值，调整量为清洁数值的减小量，根据目标区域的清洁数值的调整量调整拖擦件的拖擦数值的实现方式为：将拖擦件的拖擦数值增加一增加量，增加量等于目标区域的清洁数值的调整量。
进一步地，清洁累计信息为总清洁时间或者当前清洁次数中的一种。接下来，以第一清洁数值大于第二清洁数值为例，对上述两种情况分别进行详细说明：
清洁累计信息为总清洁时间：其中，总清洁时间是指拖擦件对目标区域的累计清洁时间，累计清洁时间越长，目标区域的脏污程度越低，拖擦件的脏污程度越高；相应地，第一清洁数值是目标区域被清洁之前的清洁数值，第二清洁数值是目标区域到达累计清洁时间之后的清洁数值，目标区域的清洁数值随累计清洁时间的增大而减小。
进一步地，目标区域的清洁数值和累计清洁时间可以为以下三种关系中的任意一种：
清洁数值和累计清洁时间呈线性递减关系：例如，清洁数值和累计清洁时间的关系式为：V＝V0-KT；其中，V为第二清洁数值，V0为第一清洁数值，T为累计清洁时间，K为常数。
可以看出，清洁数值随清洁累计时间的增加而均匀减小，清洁数值的减小量(即调整量)不随累计清洁时间的增加而变化。
清洁数值和累计清洁时间呈指数递减关系：例如，清洁数值和累计清洁时间的关系式为：V＝V0/[e^(KT)]；其中，V为第二清洁数值，V0为第一清洁数值，e为自然常数(e值取为2.718)，T为累计清洁时间，K为常数。
如图13所示，可以看出，随着累计清洁时间的增加，清洁数值的减小量(即调整量)逐渐变小；相应地，如图14所示，累计清洁时间越长，由目标区域转移到拖擦数值上的脏污量越小，拖擦数值的增加速度逐渐变缓。在实际应用中，地面的污渍主要是在拖擦的前期转移到拖擦件 上，随着累计清洁时间的增加，转移到拖擦件上的脏污量也越来越小，因此清洁数值和累计清洁时间呈指数递减关系的情况与实际情况较为相符。
清洁数值的调整量和累计清洁时间呈反比关系：在第一清洁数值大于第二清洁数值的情况下，清洁数值的调整量即为清洁数值的减小量。由于清洁数值的调整量和累计清洁时间呈反比关系，因而随着累计清洁时间的增长，在相同的清洁时间内，清洁数值的减小量逐渐变小。可以看出，该情况是与清洁数值和累计清洁时间呈指数递减关系相似的一种情况，均与实际情况较为相符。
清洁累计信息为当前清洁次数：其中，当前清洁次数是指拖擦件对目标区域的累计清洁次数，累计清洁次数越多，目标区域的脏污程度越低，拖擦件的脏污程度越高；相应地，第一清洁数值是目标区域被清洁之前的清洁数值，第二清洁数值是目标区域到达累计清洁次数之后的清洁数值，目标区域的清洁数值随累计清洁次数的增大而减小。
需要说明的是，目标区域的清洁数值和累计清洁次数同样可以为以下三种关系中的任意一种：清洁数值与累计清洁次数呈线性递减关系、清洁数值与累计清洁次数呈指数递减关系、清洁数值的调整量与累计清洁次数呈反比关系，且后两种关系与实际情况较为相符。由于原理与清洁累计信息为累计清洁时间中的原理相同，因而此处不再加以赘述。
可选地，当清洁数值越小标识脏污程度越高的情况下，第一清洁数值小于第二清洁数值，调整量为清洁数值的增大量，根据目标区域的清洁数值的调整量调整拖擦件的拖擦数值的实现方式为，将拖擦件的拖擦数值减小一减小量，减小量等于目标区域的清洁数值的调整量。
步骤1002，若拖擦数值满足清洗条件，执行与清洗拖擦件相关的拖擦件清洗操作。
基于以上任一可选实施例完成对拖擦件的拖擦数值的调整之后，若拖擦数值满足清洗条件，则表示拖擦件的脏污程度已经不适于继续对地面进行清洁，需要对拖擦件进行清洗，因此可以触发拖地机器人执行与清洗拖擦件相关的拖擦件清洗操作。
其中，拖擦数值满足清洗条件包括拖擦数值到达拖擦阀值，则在拖擦件的拖擦数值到达参考的拖擦阀值之后，可执行相关的拖擦件清洗操作。需要说明的是，当拖擦数值的表示方式不同时，拖擦阀值的数值及单位也有所不同。例如，当拖擦数值表示拖擦件的清洁累计时间的时候，拖擦阀值为清洁时间阀值，如1000秒，则当拖擦件的清洁累计时间到达1000秒时，执行相关的拖擦件清洗操作；当拖擦数值表示拖擦件的清洁累计次数的时候，拖擦阀值为清洁次数阀值，如500次，则当拖擦件的清洁累计次数到达500次时，执行相关的拖擦件清洗操作。
在一种可选的实施方式中，执行与清洗拖擦件相关的拖擦件清洗操作，包括：控制拖地机器人移动至基站，以通过该基站对拖地机器人的拖擦件进行清洗。
如图8所示，基站对拖擦件的清洗方式可以为，拖地机器人移动到基站内，以使拖地机器人底部的拖擦件位于基站的清洗槽上，清洗槽向拖擦件喷射清洗液，同时，控制拖擦件和清洗槽的凸肋滑动摩擦，从而实现对拖擦件的清洗。
进一步地，在执行与清洗拖擦件相关的拖擦件清洗操作之后，即拖擦件被基站清洗之后，调整拖擦件的拖擦数值，以使得拖擦数值表示的拖擦件的脏污程度减小。其原因在于，拖擦件被基站清洗之后，拖擦件携带的污渍被清洗掉，则拖擦件的脏污程度减小，因此，需要对拖擦 件的拖擦数值进行相应调整，调整后的拖擦数值未到达拖擦阀值，可以控制拖地机器人从基站移开，重新开始对目标区域进行清洁。
应该理解，与清洗拖擦件相关的拖擦件清洗操作除了上述的控制拖地机器人移动至基站，以通过该基站对拖地机器人的拖擦件进行清洗之外，拖擦件清洗操作还可以是其它的实现方式，例如，拖地机器人提示用户更换拖擦件，如通过拖地机器人上的扬声器发出提示音频，或者通过拖地机器人上的指示灯发出提示灯信号、或者向终端发送提示信息，以使得该终端提示用户更换拖擦件。这样，用户可对更换的拖擦件进行清洗。再如，拖擦件清洗操作还可以为拖地机器人移动到基站，在基站上自动将脏污的拖擦件更换为清洁的拖擦件，其中，脏污的拖擦件在基站上自动进行清洗，或者由用户进行清洗。
可选地，本实施例提供的控制拖地机器人的方法还包括：在拖地机器人从地面的第一位置移动至第二位置以对地面进行拖地清洁之前，预估拖地机器人从第一位置移动至第二位置的移动轨迹；基于该移动轨迹预测拖地机器人从第一位置移动至第二位置的过程中，拖擦件的拖擦数值是否满足清洗条件。
其中，第一位置、第二位置均为待清洁区域中的实际位置，可选地，预估拖地机器人从第一位置移动至第二位置的移动轨迹的方式可以为：在第一位置与第二位置之间不存在障碍物的情况下，拖地机器人从第一位置移动至第二位置的移动轨迹为由第一位置指向第二位置的直线轨迹；在第一位置与第二位置之间存在障碍物的情况下，拖地机器人需要绕开障碍物，并选择非直线的参考轨迹作为从第一位置移动至第二位置的移动轨迹。
在预估移动轨迹之后，进一步预测拖擦件沿该移动轨迹移动的过程中拖擦数值的变化量，拖擦数值的变化量是该移动过程中经过的所有目标区域的清洁数值的变化量之和；若拖擦件当前的拖擦数值与预测的移动过程中拖擦数值的变化量之和满足清洗条件，则说明拖地机器人由第一位置移动到第二位置的过程中，拖擦件的拖擦数值会在移动中途的一点满足清洗条件，则拖擦件仅在到达该点之前适设置为对地面进行清洁，在到达该点之后，由于拖擦件的拖擦数值已满足清洗条件，因而拖擦件不适合继续清洁由该点至第二位置之间的目标区域。
对此，本实施例在预测结果为拖地机器人从第一位置移动到第二位置的过程中，拖擦件的拖擦数值满足清洗条件的情况下，控制拖地机器人从第一位置向基站移动，以使基站清洗拖擦件，从而避免了拖擦件在移动中途满足清洗条件，保证了拖擦件的拖擦效果。
进一步地，在拖擦件被基站清洗之后，控制拖地机器人由基站所在的位置移动至第二位置，以保证对拖地机器人的清洗不会影响到后续的清洁过程。
综上所述，本申请实施例通过调整拖擦件的拖擦数值，而拖擦数值表示的是拖擦件的脏污程度，则在拖擦数值满足清洗条件的情况下控制拖地机器人执行拖擦件的清洗操作，实现了基于拖擦件的脏污程度来控制拖擦件的清洗，因此，该种控制方式更为智能和灵活，从而能够对拖擦件进行及时清洗，进而保证了地面的清洁效果。
进一步地，根据清洁数值调整拖擦件的拖擦数值，符合污渍由地面转移至拖擦件的实际清洁过程；并且，清洁数值的确定方式有多种，灵活性较高，适用范围广。
基于相同的申请构思，本实施例还提供了一种拖地机器人的控制装置，如图15所示，该装 置应设置为拖地机器人，拖地机器人设有拖擦件，拖擦件设置为对地面进行拖地清洁，该装置包括：
调整模块1501，设置为若拖地机器人通过拖擦件拖擦地面，调整拖擦件的拖擦数值，拖擦数值设置为表示拖擦件的脏污程度；
控制模块1502，设置为若拖擦数值满足清洗条件，执行与清洗拖擦件相关的拖擦件清洗操作。
可选地，参见图16，调整模块1501包括：确定单元15011，设置为确定目标区域的清洁数值，目标区域为地面上被拖擦件清洁的区域，清洁数值设置为表示目标区域的脏污程度；调整单元15012，设置为根据目标区域的清洁数值调整拖擦件的拖擦数值。
可选地，确定单元15011，设置为获取待清洁区域的区域地图；在区域地图上定位出表示目标区域的目标地图区域；确定出配置给目标地图区域的清洁数值，以目标地图区域的清洁数值作为目标区域的清洁数值。
可选地，清洁数值表示目标区域是否被清洁，被清洁的脏污程度小于未被清洁的脏污程度；拖擦数值表示拖擦件清洁的区域范围，拖擦件清洁的区域范围越大，拖擦件的脏污程度越高；确定单元15011，还设置为若目标区域被拖擦件清洁，将目标区域的清洁数值从未清洁标识调整为已清洁标识；调整单元15012，设置为根据目标区域调整后的清洁数值，更新拖擦件清洁的区域范围，以得到拖擦件的调整后的拖擦数值。
可选地，清洁数值表示目标区域需要的清洁用时，需要的清洁用时越长，目标区域的脏污程度越高；拖擦数值表示拖擦件的清洁累计时间，清洁累计时间越长，拖擦件的脏污程度越高；确定单元15011，还设置为计算拖擦件对目标区域清洁的清洁时长；根据清洁时长调整目标区域当前需要的清洁用时，得到调整后的清洁用时，以调整后的清洁用时作为目标区域调整后的清洁数值；调整单元15012，设置为若目标区域的清洁用时调整量不为零，根据清洁用时调整量调整拖擦件的拖擦数值，清洁用时调整量根据当前需要的清洁用时及调整后的清洁用时得到。
可选地，清洁数值表示目标区域需要的清洁总次数，需要的清洁总次数越多，目标区域的脏污程度越高；拖擦数值表示拖擦件的清洁累计次数，清洁累计次数越多，拖擦件的脏污程度越高；确定单元，还设置为计算拖擦件对目标区域清洁的已清洁次数；根据已清洁次数调整目标区域当前需要的清洁总次数，得到调整后的清洁次数，以调整后的清洁次数作为目标区域调整后的清洁数值；调整单元15012，设置为若目标区域的清洁次数调整量不为零，基于清洁次数调整量调整拖擦件的拖擦数值，清洁次数调整量根据当前需要的清洁总次数及调整后的清洁次数得到。
可选地，确定单元15011，还设置为确定目标区域的清洁数值的调整量；调整单元15012，设置为根据目标区域的清洁数值的调整量调整拖擦件的拖擦数值。
可选地，确定单元15011，设置为根据清洁累计信息将目标区域的清洁数值由第一清洁数值调整为第二清洁数值，其中，清洁累计信息为总清洁时间或者当前清洁次数，总清洁时间为拖擦件对目标区域的累计清洁时间，当前清洁次数为拖擦件对目标区域的累计清洁次数；将第一清洁数值和第二清洁数值之间的差值确定为目标区域的清洁数值的调整量。
可选地，清洁数值和清洁累计信息呈线性递减关系；或者，清洁数值和清洁累计信息呈指数递减关系；或者，调整量和清洁累计信息呈反比关系。
可选地，第二清洁数值小于第一清洁数值；调整单元15012，设置为将拖擦件的拖擦数值增加一增加量，增加量等于目标区域的清洁数值的调整量。
可选地，控制模块1502，设置为控制拖地机器人移动至基站，以通过基站对拖地机器人的拖擦件进行清洗；调整模块1501，还设置为当拖擦件被基站清洗之后，调整拖擦件的拖擦数值，以使得拖擦数值表示的拖擦件的脏污程度减小。
可选地，参见图17，该装置还包括：预估模块1503，设置为在拖地机器人从地面的第一位置移动至第二位置以对地面进行拖地清洁之前，预估拖地机器人从第一位置移动至第二位置的移动轨迹；确定模块1504，设置为基于移动轨迹预测拖地机器人从第一位置移动至第二位置的过程中，拖擦件的拖擦数值是否满足清洗条件；控制模块1502，设置为若预测结果为拖地机器人从第一位置移动至第二位置的过程中，拖擦件的拖擦数值满足清洗条件，则控制拖地机器人从第一位置向基站移动，以使基站清洗拖擦件；控制模块1502，还设置为在拖擦件被基站清洗之后，控制拖地机器人由基站所在的位置移动至第二位置。
可选地，拖擦数值满足清洗条件包括拖擦数值达到拖擦阈值。
可选地，待清洁区域的区域地图为由多个栅格表示的栅格地图；目标地图区域由栅格表示。
综上所述，本申请实施例通过调整拖擦件的拖擦数值，而拖擦数值表示的是拖擦件的脏污程度，则在拖擦数值满足清洗条件的情况下控制拖地机器人执行拖擦件的清洗操作，实现了基于拖擦件的脏污程度来控制拖擦件的清洗，因此，该种控制方式更为智能和灵活，从而能够对拖擦件进行及时清洗，进而保证了地面的清洁效果。
进一步地，根据地面的清洁数值调整拖擦件的拖擦数值，符合污渍由地面转移至拖擦件的实际清洁过程；并且，清洁数值的确定方式可以有多种，灵活性较高，适用范围广。
基于相同构思，本实施例提供了一种拖地机器人的控制设备，所述拖地机器人的控制设备包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的拖地机器人的控制程序，其中所述拖地机器人的控制程序被所述处理器执行时，实现上述实施例所述的拖地机器人的控制方法。基于相同构思，本实施例提供了一种计算机可读存储介质，计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述实施例所述的拖地机器人的控制方法。
对于本发明实施例提供的拖地机器人的控制设备、计算机可读存储介质的介绍，请参考上述拖地机器人的控制方法的实施例，本发明在此不再赘述。
上述所有可选技术方案，可以采用任意结合形成本公开的可选实施例，在此不再一一赘述。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
以上所述仅为本申请的实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (20)

  1. 一种拖地机器人的控制方法，设置为拖地机器人，其中，所述拖地机器人设有拖擦件，所述拖擦件设置为对地面进行拖地清洁；
    所述拖地机器人的控制方法包括：
    若所述拖地机器人通过所述拖擦件拖擦地面，调整所述拖擦件的拖擦数值，其中，所述拖擦数值设置为表示所述拖擦件的脏污程度；
    若所述拖擦数值满足清洗条件，执行拖擦件清洗操作。
  2. 根据权利要求1所述的拖地机器人的控制方法，其中，所述调整所述拖擦件的拖擦数值的步骤包括：
    确定目标区域的清洁数值，其中，所述目标区域设置为地面上被所述拖擦件清洁的区域，所述清洁数值设置为表示所述目标区域的脏污程度；所述确定目标区域的清洁数值的步骤包括：
    获取待清洁区域的区域地图；
    在所述区域地图上定位出表示目标区域的目标地图区域；
    确定出预先配置给所述目标地图区域的清洁数值，以所述目标地图区域的清洁数值作为所述目标区域的清洁数值；
    根据所述目标区域的清洁数值调整所述拖擦件的拖擦数值。
  3. 根据权利要求2所述的拖地机器人的控制方法，其中，所述清洁数值表示所述目标区域是否被清洁，被清洁后的所述目标区域的清洁数值小于未被清洁的所述目标区域的清洁数值，所述拖擦数值表示所述拖擦件清洁的区域范围，其中，所述拖擦件清洁的区域范围越大，所述拖擦件的脏污程度越高；
    所述确定目标区域的清洁数值之后，所述拖地机器人的控制方法还包括：
    若所述目标区域被所述拖擦件清洁，将所述目标区域的清洁数值从未清洁标识调整为已清洁标识；
    所述根据所述目标区域的清洁数值调整所述拖擦件的拖擦数值的步骤包括：
    根据所述目标区域的调整后的清洁数值，更新所述拖擦件清洁的区域范围，以得到所述拖擦件的调整后的拖擦数值。
  4. 根据权利要求2所述的拖地机器人的控制方法，其中，所述清洁数值表示所述目标区域需要的清洁用时，所述拖擦数值表示所述拖擦件的清洁累计时间，其中，需要的清洁用时越长，所述目标区域的脏污程度越高，清洁累计时间越长，所述拖擦件的脏污程度越高；
    所述确定目标区域的清洁数值之后，所述拖地机器人的控制方法还包括：
    计算所述拖擦件对目标区域清洁的清洁时长；
    根据所述清洁时长调整所述目标区域当前需要的清洁用时，得到调整后清洁用时，以所述调整后的清洁用时作为所述目标区域调整后的清洁数值；
    所述根据所述目标区域的清洁数值调整所述拖擦件的拖擦数值步骤包括：
    若所述目标区域的清洁用时调整量不为零，根据所述清洁用时调整量调整所述拖擦件的拖擦数值，所述清洁用时调整量根据所述当前需要的清洁用时及所述调整后的清洁用时得到。
  5. 根据权利要求2所述的拖地机器人的控制方法，其中，所述清洁数值表示所述目标区域需要的清洁总次数，所述拖擦数值表示所述拖擦件的清洁累计次数，其中，需要的清洁总次数越多，所述目标区域的脏污程度越高，清洁累计次数越多，所述拖擦件的脏污程度越高；
    所述确定目标区域的清洁数值之后，所述拖地机器人的控制方法还包括：
    计算所述拖擦件对目标区域清洁的已清洁次数；
    根据所述已清洁次数调整所述目标区域当前需要的清洁总次数，得到调整后的清洁次数，以所述调整后的清洁次数作为所述目标区域调整后的清洁数值；
    所述根据所述目标区域的清洁数值调整所述拖擦件的拖擦数值步骤包括：
    若所述目标区域的清洁次数调整量不为零，基于所述清洁次数调整量调整所述拖擦件的拖擦数值，所述清洁次数调整量根据所述当前需要的清洁总次数及所述调整后的清洁次数得到。
  6. 根据权利要求2所述的拖地机器人的控制方法，其中，所述确定目标区域的清洁数值之后，所述拖地机器人的控制方法还包括：
    确定目标区域的清洁数值的调整量；
    所述根据所述目标区域的清洁数值调整所述拖擦件的拖擦数值的步骤包括：
    根据所述目标区域的清洁数值的调整量调整所述拖擦件的拖擦数值。
  7. 根据权利要求6所述的拖地机器人的控制方法，其中，所述确定目标区域的清洁数值的调整量的步骤包括：
    根据清洁累计信息将目标区域的清洁数值由第一清洁数值调整为第二清洁数值，其中，所述清洁累计信息为总清洁时间或者当前清洁次数，所述总清洁时间为所述拖擦件对所述目标区域的累计清洁时间，所述当前清洁次数为所述拖擦件对所述目标区域的累计清洁次数；
    将所述第一清洁数值和所述第二清洁数值之间的差值确定为所述目标区域的清洁数值的调整量。
  8. 根据权利要求7所述的拖地机器人的控制方法，其中，所述清洁数值和所述清洁累计 信息呈线性递减关系；
    或者，所述清洁数值和所述清洁累计信息呈指数递减关系；
    或者，所述调整量和所述清洁累计信息呈反比关系。
  9. 根据权利要求1所述的拖地机器人的控制方法，其中，所述执行拖擦件清洗操作的步骤包括：
    控制所述拖地机器人移动至基站，以通过所述基站对所述拖地机器人的拖擦件进行清洗。
  10. 根据权利要求9所述的拖地机器人的控制方法，其中，所述执行拖擦件清洗操作之后，所述拖地机器人的控制方法还包括：
    当所述拖擦件被所述基站清洗之后，调整所述拖擦件的拖擦数值，以使得所述拖擦数值表示的所述拖擦件的脏污程度减小。
  11. 根据权利要求1所述的拖地机器人的控制方法，其中，所述拖地机器人的控制方法还包括：
    在所述拖地机器人从地面的第一位置移动至第二位置以对地面进行拖地清洁之前，预估所述拖地机器人从所述第一位置移动至所述第二位置的移动轨迹，其中，所述第一位置和所述第二位置均为待清洁区域中的实际位置；
    基于所述移动轨迹预测所述拖地机器人从所述第一位置移动至所述第二位置的过程中，所述拖擦件的拖擦数值是否满足清洗条件，若预测结果为所述拖地机器人从所述第一位置移动至所述第二位置的过程中，所述拖擦件的拖擦数值满足所述清洗条件，则控制所述拖地机器人从所述第一位置向基站移动，以使所述基站清洗所述拖擦件。
  12. 根据权利要求11所述的拖地机器人的控制方法，其中，所述拖地机器人的控制方法还包括：
    在所述拖擦件被所述基站清洗之后，控制所述拖地机器人由所述基站所在的位置移动至所述第二位置。
  13. 根据权利要求1所述的拖地机器人的控制方法，其中，
    所述拖擦数值满足清洗条件包括所述拖擦数值达到拖擦阈值。
  14. 一种拖地机器人的控制装置，设置为拖地机器人，其中，所述拖地机器人设有拖擦件，所述拖擦件设置为对地面进行拖地清洁；
    所述拖地机器人的控制装置装置包括：拖地机器人的控制装置包括调整模块。设置为若所述拖地机器人通过所述拖擦件拖擦地面，调整所述拖擦件的拖擦数值，所述拖擦数值设置为表示所述拖擦件的脏污程度；
    调整模块，设置为若所述拖地机器人通过所述拖擦件拖擦地面，调整所述拖擦件的拖擦 数值，所述拖擦数值设置为表示所述拖擦件的脏污程度；
    控制模块，设置为若所述拖擦数值满足清洗条件，执行拖擦件清洗操作。
  15. 根据权利要求14所述的拖地机器人的控制装置，其中，所述调整模块包括：
    确定单元，设置为确定目标区域的清洁数值，其中，所述目标区域设置为地面上被所述拖擦件清洁的区域，所述清洁数值设置为表示所述目标区域的脏污程度；
    调整单元，设置为根据所述目标区域的清洁数值调整所述拖擦件的拖擦数值。
  16. 根据权利要求15所述的拖地机器人的控制装置，其中，所述确定单元还设置为获取待清洁区域的区域地图；在所述区域地图上定位出表示目标区域的目标地图区域；确定出预先配置给所述目标地图区域的清洁数值，以所述目标地图区域的清洁数值作为所述目标区域的清洁数值。
  17. 根据权利要求15所述的拖地机器人的控制装置，其中，所述确定单元还设置为确定目标区域的清洁数值的调整量；
    所述调整单元还设置为根据所述目标区域的清洁数值的调整量调整所述拖擦件的拖擦数值。
  18. 根据权利要求14所述的拖地机器人的控制装置，其中，所述控制模块还设置为控制所述拖地机器人移动至基站，以通过所述基站对所述拖地机器人的拖擦件进行清洗；
    所述调整模块还设置为当所述拖擦件被所述基站清洗之后，调整所述拖擦件的拖擦数值，以使得所述拖擦数值表示的所述拖擦件的脏污程度减小。
  19. 一种拖地机器人的控制设备，其中，所述拖地机器人的控制设备包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的拖地机器人的控制程序，所述拖地机器人的控制程序被所述处理器执行时实现如下步骤：
    若所述拖地机器人通过所述拖擦件拖擦地面，调整所述拖擦件的拖擦数值，其中，所述拖擦数值设置为表示所述拖擦件的脏污程度；
    若所述拖擦数值满足清洗条件，执行拖擦件清洗操作。
  20. 一种计算机可读存储介质，其中，所述计算机可读存储介质上存储有拖地机器人的控制程序，所述拖地机器人的控制程序被处理器执行时实现如下步骤：
    若所述拖地机器人通过所述拖擦件拖擦地面，调整所述拖擦件的拖擦数值，其中，所述拖擦数值设置为表示所述拖擦件的脏污程度；
    若所述拖擦数值满足清洗条件，执行拖擦件清洗操作。
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